The CCRE: A comprehensive award-winning robot code framework

[Cel Skeggs]

Originally Posted by NotInControl

If I understand this correctly, backwards compatibility only applies to programs purely calling WPILib, because you wrapped it and any code dependent on the Java standard libraries will not have backward compatibility. Is that correct?

That's correct. We provide a few things from the standard libraries that aren't on the cRIO, but not anything significant.

Originally Posted by NotInControl

What happens when the users program tries to execute code written under Java 8, but then tries to exectute on the cRIO? For example, if the user makes a call to Java.io.socket networking classes, or uses automatic unboxing Double myVar = 5.
All are valid on the roboRio, but what happens when the user tries to run this code on a 2014 cRIO, does it have a compile error, run-time error, or work somehow?

When targetting the cRIO, the code is compiled with Java 1.5, not Java 8 or Java 1.3. It then gets run through Retrotranslator, which converts it to Java 1.3 bytecode.
Using unboxing should work properly, as far as I can remember. This is a language feature, not a bytecode or library feature. (You can use all Java 1.5 language features safely on the cRIO when using the CCRE, as far as I know.)
Using java.net.Socket will cause a compile-time error when targeting the cRIO (but not when targeting the roboRIO). This isn't an issue, though, because you can just use ccre.net.Network.connect(addr, port), which wraps both Squawk and Java SE interfaces for you into one interface.

In general, things will either just work or have a compile-time error. There are few cases when something will fail at runtime.

Originally Posted by NotInControl

Thanks for putting this together,
Kevin

Of course! Since it's licensed under the LGPL, any team that wants to use it (or any subset, really, but if you're going to use part of it, you may as well use the rest) is free to do so.

[Cel Skeggs]

Weekly update on 2014-10-27

CCRE release 2.1.1 is available.

Important changes since v2.0.0:
Added PIDControl.
Added Single Joystick drive.
Improved ExpirationTimer.

The devel-2.x.x branch has been created and has a variety of bugfixes on it, which will be in ccre-v2.2.0. (These fixes include removal of some legacy components, so it can't count as only a bugfix release.)

[Cel Skeggs]

Semi-weekly update on 2014-11-05

CCRE release 2.2.0 is available!

Changelog:
* Removed legacy version of the Poultry Inspector. This should not affect you.
* Moved ApolloGemini2014 to be another sample in SampleIgneousRobot, as would make more sense.
* TuningContexts will remember their names so that publishing a save event doesn't need to have the name specified again.
* TuningContexts will default to the global CluckNode if no node is specified.
* Added `Igneous.NO_RAMPING` constant, equal to 0.0f, which may be used as the ramping argument to `make*Motor`.
* Multiple interface savefiles are now supported by the PoultryInspector.

Bugfixes:
* Emulator failed to close if main code couldn't be loaded.
* Inverse trigonometric functions were unavailable on cRIO.
* (Partial) The build process paused a long time while old files are deleted.
* Emulator launch built more than was required, slowing down emulator launching.
* Poultry Inspector required Java 7, instead of Java 6.

As a reminder, we currently have a very active Trello board on which we keep track of current development status. For example, we have nineteen different cards under the "Done (October 2014)" column.

[Cel Skeggs]

Semi-weekly update on 2014-11-21

CCRE release 2.3.0 is available! Lots of goodies here - a total of 48 commits to our Git repository since the last release!

Major Changelog:

* Added booleans to TuningContext, so that the tuning framework works with them as well as floats.
* Added file and line number readouts to logging messages.
* Automatically set motors to zero on disable, to prevent ramping jumps.
* Added arithmetic on channels to FloatMixing.
* Added listing of robot addresses in PoultryInspector, instead of a preset address.
* Added lots of alternative views for PoultryInspector controls.
* Added method by which .input and .output for the same channel get shown as the same channel in the PoultryInspector.

Minor Changelog:

* Removed launches from TemplateIgneousRobot, so that only real projects get them.
* Sped up cRIO library building.
* Miscellaneous visual improvements to the Poultry Inspector.
* Cleaned up the implementation of the Mixing* classes: https://github.com/flamingchickens1540/Common-Chicken-Runtime-Engine/issues/7
* Added `IJoystick.getXSource()`, `IJoystick.getYSource()`.
* Made the averageBits parameter optional in Igneous.makeAnalogInput.
* Added OutputStream support to PoultryInspector.
* Cluck can now publish EventStatuses without manually breaking out the channels.
* Let DriverImpls Single Joystick Drive (Arcade Drive) take Joystick handles directly.
* Added unofficial copy of the Squawk source code to the repo so that source shows up.
* Added copy of the WPILibJ source code to the repo so that source shows up.
* Added roboRIO debugging support.
* Streamlined instantiation of TuningContext objects.
* Marked `makeAnalogInput_ValueBased` as deprecated.
* Added dynamic time waiting method to InstinctModule.
* Added direct access function for `Utils.currentTimeSeconds`'s value.

Bugfixes:

* Fixed incorrect Java versioning on some CCRE projects.
* Fixed off-by-one error with axes in roboRIO glue.
* Fixed the out-of-limit bug with PoultryInspector float readouts.
* Added backport rules for some mathematical functions that were unavailable on the cRIO.
* Fixed the bug where dragging out BooleanOutputs in the PoultryInspector would set them to false immediately.
* Fixed default positioning of the Logging Component in the PoultryInspector.

We also now have standalone downloads of the PoultryInspector binaries available with each new release. See the current release on GitHub for the binary download. (Scroll down a bit.)

As always, if you have any issues, suggestions, questions, comments, etcetera, about the CCRE, please post them here!

[Cel Skeggs]

Hotfix update on 2014-11-23

CCRE release 2.3.1 is available! This fixes a few problems, most importantly a major serialization bug introduced and present only in CCRE release 2.3.0. You should not be affected by this bug unless you're using the saved-layouts feature of the PoultryInspector.

Bugfixes:

* Fixed issue with saving PoultryInspector views that contain control components.
* Added keepalives for Cluck.
* Fixed ISOMETRIC_BUTTON stretching issue on PoultryInspector.

We try our best to keep the CCRE bug-free, and it almost always is. Of course, please report any issues or difficulties you have with the CCRE or any components, to help us keep it as high-quality as possible.

We recommend keeping your copy of the CCRE as up-to-date as possible. See the short update guide on GitHub.

[Cel Skeggs]

We're getting ready for release 2.4.0, but it's probably not going to be ready before Kickoff. However, we need to release all code before Kickoff by R13, so here are the details on where you can get it:

Everything is on the GitHub repository. The latest changes are in the devel-2.x.x branch, which is also publicly available. There is also a pull request in process (#10), which is also publicly available.

If you want the sum total of everything we have "unreleased" (it's public but we haven't signed off on it as a stable CCRE release), those two places will have it. We also plan to get them together into ccre release 2.4.0 soon, so you can also wait for that.

If anyone thinks that this doesn't satisfy R13, please let me know and I'll try to fix things.

[Cel Skeggs]

Release 2.4.0 should be up either today or tomorrow. The main thing remaining is to test the latest version to make sure that nothing's been accidentally broken since the last release.

Once this release is out, you will definitely want to upgrade - it has a number of fixes and improvements that are essential to programming the roboRIO with the CCRE, such as the rewritten Emulator that also supports the roboRIO.

We're also going to be pretty much requiring Java 8 now, so make sure to grab it from Oracle's site.

Also, we can see that a number of people have downloaded the CCRE recently! If you have, consider posting your opinions/findings here. (Especially if you plan to use it.)

[Cel Skeggs]

CCRE update on 2015-01-06

CCRE release 2.4.0 is out! This is the major 2015 season release - it contains working versions of most of what you'll need to use the CCRE in the 2015 season.

Major Changelog:

* A new Emulator model: DeviceList. This doesn't use screen space as well, but is easier to understand and only shows what your code uses.
* The Emulator now supports the roboRIO.
* Java 8 is now required for development.
* A new MultiModule system for easily selecting and configuring autonomous modes.
* Added an example of good usage of the CCRE by rewriting last year's robot code.
* ExtendedMotors were added, which allow for CAN motor support.
* Barebones CAN motor support.

Minor Changelog:

* The PoultryInspector now allows the END key to be used in place of ENTER to avoid disabling the robot.
* Added a version of `CluckTCPServer.setupServer` that takes a port number.
* Added FMS-compatible ports to roboRIO and PoultryInspector defaults.
* Added USB preset to PoultryInspector.
* Added `BooleanMixing.whenBooleanChanges` and `FloatMixing.whenFloatChanges`.
* `createDispatch` no longer ignores the initial value.
* The Emulator now reports errors in the GUI.
* Improved helpfulness of the message when the roboRIO plugin is not found.
* A wide variety of internal code enhancements.
* Moved the virtual phidget display to be a PoultryInspector component instead of a window.
* Added buildscript for the PoultryInspector's package.
* Added screenshots to PoultryInspector documentation.

Bugfixes:

* One implementation of `FloatMixing.onUpdate` was private.
* ConnectionReceiverThread always said port 80 when connection failed regardless of port.
* createDispatch now includes the original value in the result.
* Mixing.select now updates even when the selector stays the same.
* Fixed occasional link unavailable errors without useful information.
* Miscellaneous behavior fixes in Mixing methods.
* Miscellaneous concurrency fixes.
* Several other miscellaneous fixes.
* Fixed some minor licensing issues where the wrong documentation was provided.

We plan to build an Eclipse plugin for the CCRE at some point soon, which should make the CCRE much easier to install.

As usual, please send us any comments, questions, complaints, suggestions, etc!

[BrianAtlanta]

Your framework looks really nice. I was reading your documentation on the logging portion of the framework. You mentioned that some logging frameworks wouldn't run on the limited FRC setup. I was wondering if the change to the Roborio increased performance so that some of the logging frameworks would now work? I was looking at having our team look at something like Log4J, but I'm concerned it won't work.

Brian Carlson
Programming Mentor

[Cel Skeggs]

Originally Posted by BrianAtlanta

Your framework looks really nice. I was reading your documentation on the logging portion of the framework. You mentioned that some logging frameworks wouldn't run on the limited FRC setup. I was wondering if the change to the Roborio increased performance so that some of the logging frameworks would now work? I was looking at having our team look at something like Log4J, but I'm concerned it won't work.

Brian Carlson
Programming Mentor

The issue isn't with performance so much as the version of Java. The cRIO with just Squawk runs Java 1.3, which is a very old version. Log4j, for example, requires Java 6. With the introduction of the roboRIO, you can now use a number of these frameworks without too much work. The CCRE's Logging framework still has some advantages - it can work on any platform, including the cRIO, and by default works well with the rest of the system - no setup required.

You can certainly use Log4j, but you'd have to do your own work to integrate it.

[fsilberberg]

Originally Posted by BrianAtlanta

Your framework looks really nice. I was reading your documentation on the logging portion of the framework. You mentioned that some logging frameworks wouldn't run on the limited FRC setup. I was wondering if the change to the Roborio increased performance so that some of the logging frameworks would now work? I was looking at having our team look at something like Log4J, but I'm concerned it won't work.

Brian Carlson
Programming Mentor

One thing to note with Log4J and some other libraries is that with the embedded profile we use to create the JRE, some of the necessary bean components don't get enabled to save space. You could create your own JRE and put it in /usr/local/frc/JRE with the necessary components enabled, but we don't support it with the installer.

[Cel Skeggs]

CCRE release 2.5.0 is out! The main feature here is RS232 support.

Release of CCRE with API v2.5.0.

Major Changelog:

* Support for RS232 ports on cRIO and roboRIO.
* Infrastructure to support Serial IO in general.
* ExpirationTimers now allow for tunable delays.
* A driver for the UM7LT heading sensor is now included.

Minor Changelog:

* CArrayUtils now has sorting methods.
* Igneous now acquires method information during caller analysis, meaning that logging messages on the cRIO now include the line number as well as the file name.
* Added direct isDoingWork() method to CollapsingWorkerThreads.
* Removed old non-RawIO roboRIO IgneousLauncherImpl.
* Added cRIO backporting support for java.util.Arrays.
* Miscellaneous cRIO backporting support.
* Moved most TODOs from the code into Trello and GitHub.
* Refactored CluckPublisher subscribers to have less code duplication by factoring out `CluckRMTSubscriber`.
* Most of Cluck now has an automated testing system set up, invokable via the PoultryInspector
* A unit test for CArrayUtils sort methods has been added.
* CLinkedList now has a `setAll` method used for bulk-reloading data.
* Miscellaneous PoultryInspector graphical code cleanup.
* Added missing documentation for Beeper.

Bugfixes:

* roboRIO RawIOIgneousLauncher no longer stores state statically.
* If cRIO library builds fail, they will no longer silently allow robot projects to still be compiled with the old version.
* Fixed a race condition in the Emulator's redrawing code.

If any other teams are actively using the CCRE, please let us know!

[Cel Skeggs]

CCRE release 2.6.0 is out! A number of features have been added - CAN Talons, RConf, StateMachines, additional PoultryInspector configuration, log fetching, etc.

WARNING: This release has not been tested on the cRIO due to a lack of a cRIO robot to test on. If you need cRIO functionality and don't have time to debug, refrain from upgrading.

Release of CCRE with API v2.6.0.

WARNING: This release has not been tested on the cRIO due to a lack of a cRIO robot to test on. If you need cRIO functionality and don't have time to debug, refrain from upgrading.

Major Changelog:

* Support for CAN Talons on the roboRIO. cRIO will not support them in the near future.
* RConf (Remote Configuration) subsystem introduced.
* StateMachine is now provided for middle-complexity subsystems.
* PoultryInspector now allows for range configuration.
* PoultryInspector components now configured via RConf views.
* Support for multiple PCMs/Solenoid Modules.
* Support for Joystick POV hats.
* Support for log fetching from roboRIO targets. (Autoruns on code download.)
* Code coverage for tests can now be generated. Tests expanded to cover approximately 30% of codebase.
* Prototype (not used by default) version of roboRIO target that bypasses the majority of WPILib, for a theoretically more stable experience. Practically, don't use this yet for anything real.

Minor Changelog:

* Deprecated makeAccelerometerAxis, as it is so trivial that it shouldn't have a builtin method.
* Removed ComputationBenchmark. It was completely unused and not particularly helpful in any way.
* InstinctModule.waitUntilNot.
* BooleanStatus.asInput, asOutput, asInvertedInput, asInvertedOutput.
* EventStatus.countConsumers.
* BooleanMixing.xorBooleans now supports BooleanInputs, not just BooleanInputPolls.
* FloatMixing.floatIsOutsideRange, floatIsInRange, normalizeFloat now support Inputs, not just InputPolls.
* Mixing.quadSelect now supports Inputs, not just InputPolls, at least for the selection parameters and return value.
* BooleanMixing.setWhile, setWhileNot.
* FloatMixing.setWhile, setWhileNot.
* BooleanMixing.toggleEvent.
* ExpirationTimer.terminate, PauseTimer.terminate.
* Igneous reports the name of the main class at startup.
* Fixed up Deprecation notes.
* Usage reporting now includes CCRE note.
* WPILib version number now includes CCRE version too.
* Extracted AbstractJoystickWithPOV from various IJoystick implementations.
* Automatic CAN error recovery - CAN motors are bypassed temporarily on exception-throwing communication failures, to keep the rest of the code running. Certain other errors are logged and ignored.
* Removed testing package from cRIO builds.
* ExtendedMotors now support ANY_FAULT and COMMS_FAULT.
* ExtendedMotors no longer include _PID in mode names.
* Now specified that ExtendedMotors report temperature in Celsius, if at all.
* A number of ExtendedMotor methods no longer throw ExtendedMotorFailureException.
* ExtendedMotorFailureException is now a checked exception. (Since CAN functionality is not an officially finalized API, changes like this don't officially break backwards compatibility.)
* ByteFiddling.asInt32LE, ByteFiddling.asInt32BE.
* Made IgneousLauncherHolder publicly accessible.
* TestingException now always requires an argument. This was only internally used, so this shouldn't be an issue.
* PoultryInspector float-based components now accept ranges.
* Initial version of a deeper example of how to use the CCRE's more complex features on a simple robot.
* Joystick access example added.
* Added inversion option to BooleanDisplayComponent.
* Added exclamation point to the warning light view for aesthetics.

Bugfixes:

* Fixed broken serialization on a variety of PoultryInspector and Cluck systems.
* Fixed unbalanced SpinDevice weighting.
* Removed extraneous debugging statement in DeviceListMain.
* Improved Ticker synchronization.
* Fixed NaN-propagation bug in PIDControl that could permanently deactivate the PID.
* Clarified IJoystick documentation.
* Code is much less likely to crash if CAN devices cannot be contacted at startup.
* Removed some warnings for missing Javadoc in places where it doesn't make sense to be added.
* Miscellaneous warning fixes.
* Miscellaneous Javadoc fixes.

We'll probably have another release around the end of build season, but no promises.

Also, keep in mind that downloadable PoultryInspector builds for your Driver Station are available from our GitHub page.