24 skills found
WICG / Direct SocketsDirect Sockets API for the web platform
SecOps-7 / MikroDashReal-time MikroTik RouterOS v7 dashboard. Streams live CPU, traffic, wireless clients, DHCP, WireGuard, firewall & geo connection data direct from the router API to your browser via Socket.IO. Self-hosted, Docker-ready
chrisneagu / FTC Skystone Dark Angels Romania 2020NOTICE 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.
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duanchen1 / Multi SimvA communication framework utilizing sockets and DPI (Direct Programming Interface) to interconnect multiple testbenches. This approach aims to accelerate simulation speeds and facilitate SoC (System-on-Chip) simulations. While conceptually similar to the distributed simulation feature (distsim) introduced in VCS 2023.
Nenu-doc / DOCTYPE Html Html Head Title Biblioteca Title Head <!DOCTYPE html> <html> <head> <title>Biblioteca</title> </head> <body> <h2>LIBRARY SSH</h2> <strong><h1>libssh 0.8.90</h1></strong><br /> <p> <button><li>La biblioteca SSH</li></button> <button><i>PAGINA PRINCIPAL</li></button> <button><li>PÁGINAS RELACIONADAS</li></button> <button><li>MÓDULOS</li></button> <button><li>ESTRUCTURAS DE DATOS</li></button> <button><li>ARCHIVOS</li></button> </p> <ul> <button><h3> incluir </h3></button> <button><h3> libssh </h3></button> <button><h3> libssh.h </h3></button> <br /> </ul> <small>Esta biblioteca es software gratuito; puedes redistribuirlo y / o 7 * modificarlo según los términos del GNU Lesser General Public 8 * Licencia publicada por la Free Software Foundation; ya sea 9 * versión 2.1 de la Licencia, o (a su elección) cualquier versión posterior. 10 * 11 * Esta biblioteca se distribuye con la esperanza de que sea útil, 12 * pero SIN NINGUNA GARANTÍA; sin siquiera la garantía implícita de 21 #ifndef _LIBSSH_H 22 #define _LIBSSH_H 23 24 #si está definido _WIN32 || definido __CYGWIN__ 25 #ifdef LIBSSH_STATIC 26 #define LIBSSH_API 27 #más 28 #ifdef LIBSSH_EXPORTS 29 #ifdef __GNUC__ 30 #define LIBSSH_API __attribute __ ((dllexport)) 31 #más 32 #define LIBSSH_API __declspec (dllexport) 33 #endif 34 #más 35 #ifdef __GNUC__ 36 #define LIBSSH_API __attribute __ ((dllimport)) 37 #más 38 #define LIBSSH_API __declspec (dllimport) 39 #endif 40 #endif 41 #endif 42 #más 43 #if __GNUC__> = 4 &&! Definido (__ OS2__) 44 #define LIBSSH_API __attribute __ ((visibilidad ("predeterminado"))) 45 #más 46 #define LIBSSH_API 47 #endif 48 #endif 49 50 #ifdef _MSC_VER 51 / * Visual Studio no tiene inttypes.h así que no conoce uint32_t * / 52 typedef int int32_t; 53 typedef unsigned int uint32_t; 54 typedef unsigned short uint16_t; 55 typedef unsigned char uint8_t; 56 typedef unsigned long long uint64_t; 57 typedef int mode_t; 58 #else / * _MSC_VER * / 59 #include <unistd.h> 60 #include <inttypes.h> 61 #include <sys / types.h> 62 #endif / * _MSC_VER * / 63 64 #ifdef _WIN32 65 #include <winsock2.h> 66 #else / * _WIN32 * / 67 #include <sys / select.h> / * para fd_set * * / 68 #include <netdb.h> 69 #endif / * _WIN32 * / 70 71 #define SSH_STRINGIFY (s) SSH_TOSTRING (s) 72 #define SSH_TOSTRING (s) #s 73 74 / * macros de versión libssh * / 75 #define SSH_VERSION_INT (a, b, c) ((a) << 16 | (b) << 8 | (c)) 76 #define SSH_VERSION_DOT (a, b, c) a ##. ## b ##. ## c 77 #define SSH_VERSION (a, b, c) SSH_VERSION_DOT (a, b, c) 78 79 / * versión libssh * / 80 #define LIBSSH_VERSION_MAJOR 0 81 #define LIBSSH_VERSION_MINOR 8 82 #define LIBSSH_VERSION_MICRO 90 83 84 #define LIBSSH_VERSION_INT SSH_VERSION_INT (LIBSSH_VERSION_MAJOR, \ 85 LIBSSH_VERSION_MINOR, \ 86 LIBSSH_VERSION_MICRO) 87 #define LIBSSH_VERSION SSH_VERSION (LIBSSH_VERSION_MAJOR, \ 88 LIBSSH_VERSION_MINOR, \ 89 LIBSSH_VERSION_MICRO) 90 91 / * GCC tiene verificación de atributo de tipo printf. * / 92 #ifdef __GNUC__ 93 #define PRINTF_ATTRIBUTE (a, b) __attribute__ ((__format__ (__printf__, a, b))) 94 #más 95 #define PRINTF_ATTRIBUTE (a, b) 96 #endif / * __GNUC__ * / 97 98 #ifdef __GNUC__ 99 #define SSH_DEPRECATED __attribute__ ((obsoleto)) 100 #más 101 #define SSH_DEPRECATED 102 #endif 103 104 #ifdef __cplusplus 105 externa "C" { 106 #endif 107 108 struct ssh_counter_struct { 109 uint64_t in_bytes; 110 uint64_t out_bytes; 111 uint64_t in_packets; 112 uint64_t out_packets; 113 }; 114 typedef struct ssh_counter_struct * ssh_counter ; 115 116 typedef struct ssh_agent_struct * ssh_agent ; 117 typedef struct ssh_buffer_struct * ssh_buffer ; 118 typedef struct ssh_channel_struct * ssh_channel ; 119 typedef struct ssh_message_struct * ssh_message ; 120 typedef struct ssh_pcap_file_struct * ssh_pcap_file; 121 typedef struct ssh_key_struct * ssh_key ; 122 typedef struct ssh_scp_struct * ssh_scp ; 123 typedef struct ssh_session_struct * ssh_session ; 124 typedef struct ssh_string_struct * ssh_string ; 125 typedef struct ssh_event_struct * ssh_event ; 126 typedef struct ssh_connector_struct * ssh_connector ; 127 typedef void * ssh_gssapi_creds; 128 129 / * Tipo de enchufe * / 130 #ifdef _WIN32 131 #ifndef socket_t 132 typedef SOCKET socket_t; 133 #endif / * socket_t * / 134 #else / * _WIN32 * / 135 #ifndef socket_t 136 typedef int socket_t; 137 #endif 138 #endif / * _WIN32 * / 139 140 #define SSH_INVALID_SOCKET ((socket_t) -1) 141 142 / * las compensaciones de los métodos * / 143 enum ssh_kex_types_e { 144 SSH_KEX = 0, 145 SSH_HOSTKEYS, 146 SSH_CRYPT_C_S, 147 SSH_CRYPT_S_C, 148 SSH_MAC_C_S, 149 SSH_MAC_S_C, 150 SSH_COMP_C_S, 151 SSH_COMP_S_C, 152 SSH_LANG_C_S, 153 SSH_LANG_S_C 154 }; 155 156 #define SSH_CRYPT 2 157 #define SSH_MAC 3 158 #define SSH_COMP 4 159 #define SSH_LANG 5 160 161 enum ssh_auth_e { 162 SSH_AUTH_SUCCESS = 0, 163 SSH_AUTH_DENIED, 164 SSH_AUTH_PARTIAL, 165 SSH_AUTH_INFO, 166 SSH_AUTH_AGAIN, 167 SSH_AUTH_ERROR = -1 168 }; 169 170 / * banderas de autenticación * / 171 #define SSH_AUTH_METHOD_UNKNOWN 0 172 #define SSH_AUTH_METHOD_NONE 0x0001 173 #define SSH_AUTH_METHOD_PASSWORD 0x0002 174 #define SSH_AUTH_METHOD_PUBLICKEY 0x0004 175 #define SSH_AUTH_METHOD_HOSTBASED 0x0008 176 #define SSH_AUTH_METHOD_INTERACTIVE 0x0010 177 #define SSH_AUTH_METHOD_GSSAPI_MIC 0x0020 178 179 / * mensajes * / 180 enum ssh_requests_e { 181 SSH_REQUEST_AUTH = 1, 182 SSH_REQUEST_CHANNEL_OPEN, 183 SSH_REQUEST_CHANNEL, 184 SSH_REQUEST_SERVICE, 185 SSH_REQUEST_GLOBAL 186 }; 187 188 enum ssh_channel_type_e { 189 SSH_CHANNEL_UNKNOWN = 0, 190 SSH_CHANNEL_SESSION, 191 SSH_CHANNEL_DIRECT_TCPIP, 192 SSH_CHANNEL_FORWARDED_TCPIP, 193 SSH_CHANNEL_X11, 194 SSH_CHANNEL_AUTH_AGENT 195 }; 196 197 enum ssh_channel_requests_e { 198 SSH_CHANNEL_REQUEST_UNKNOWN = 0, 199 SSH_CHANNEL_REQUEST_PTY, 200 SSH_CHANNEL_REQUEST_EXEC, 201 SSH_CHANNEL_REQUEST_SHELL, 202 SSH_CHANNEL_REQUEST_ENV, 203 SSH_CHANNEL_REQUEST_SUBSYSTEM, 204 SSH_CHANNEL_REQUEST_WINDOW_CHANGE, 205 SSH_CHANNEL_REQUEST_X11 206 }; 207 208 enum ssh_global_requests_e { 209 SSH_GLOBAL_REQUEST_UNKNOWN = 0, 210 SSH_GLOBAL_REQUEST_TCPIP_FORWARD, 211 SSH_GLOBAL_REQUEST_CANCEL_TCPIP_FORWARD, 212 SSH_GLOBAL_REQUEST_KEEPALIVE 213 }; 214 215 enum ssh_publickey_state_e { 216 SSH_PUBLICKEY_STATE_ERROR = -1, 217 SSH_PUBLICKEY_STATE_NONE = 0, 218 SSH_PUBLICKEY_STATE_VALID = 1, 219 SSH_PUBLICKEY_STATE_WRONG = 2 220 }; 221 222 / * Indicadores de estado * / 224 #define SSH_CLOSED 0x01 225 226 #define SSH_READ_PENDING 0x02 227 228 #define SSH_CLOSED_ERROR 0x04 229 230 #define SSH_WRITE_PENDING 0x08 231 232 enum ssh_server_known_e { 233 SSH_SERVER_ERROR = -1, 234 SSH_SERVER_NOT_KNOWN = 0, 235 SSH_SERVER_KNOWN_OK, 236 SSH_SERVER_KNOWN_CHANGED, 237 SSH_SERVER_FOUND_OTHER, 238 SSH_SERVER_FILE_NOT_FOUND 239 }; 240 241 enum ssh_known_hosts_e { 245 SSH_KNOWN_HOSTS_ERROR = -2, 246 251 SSH_KNOWN_HOSTS_NOT_FOUND = -1, 252 257 SSH_KNOWN_HOSTS_UNKNOWN = 0, 258 262 SSH_KNOWN_HOSTS_OK, 263 269 SSH_KNOWN_HOSTS_CHANGED, 270 275 SSH_KNOWN_HOSTS_OTHER, 276 }; 277 278 #ifndef MD5_DIGEST_LEN 279 #define MD5_DIGEST_LEN 16 280 #endif 281 / * errores * / 282 283 enum ssh_error_types_e { 284 SSH_NO_ERROR = 0, 285 SSH_REQUEST_DENIED, 286 SSH_FATAL, 287 SSH_EINTR 288 }; 289 290 / * algunos tipos de claves * / 291 enum ssh_keytypes_e { 292 SSH_KEYTYPE_UNKNOWN = 0, 293 SSH_KEYTYPE_DSS = 1, 294 SSH_KEYTYPE_RSA, 295 SSH_KEYTYPE_RSA1, 296 SSH_KEYTYPE_ECDSA, 297 SSH_KEYTYPE_ED25519, 298 SSH_KEYTYPE_DSS_CERT01, 299 SSH_KEYTYPE_RSA_CERT01 300 }; 301 302 enum ssh_keycmp_e { 303 SSH_KEY_CMP_PUBLIC = 0, 304 SSH_KEY_CMP_PRIVATE 305 }; 306 307 #define SSH_ADDRSTRLEN 46 308 309 struct ssh_knownhosts_entry { 310 char * nombre de host; 311 char * sin analizar; 312 ssh_key publickey; 313 char * comentario; 314 }; 315 316 317 / * Códigos de retorno de error * / 318 #define SSH_OK 0 / * Sin error * / 319 #define SSH_ERROR -1 / * Error de algún tipo * / 320 #define SSH_AGAIN -2 / * La llamada sin bloqueo debe repetirse * / 321 #define SSH_EOF -127 / * Ya tenemos un eof * / 322 329 enum { 332 SSH_LOG_NOLOG = 0, 335 SSH_LOG_WARNING , 338 SSH_LOG_PROTOCOL , 341 SSH_LOG_PACKET , 344 SSH_LOG_FUNCTIONS 345 }; 347 #define SSH_LOG_RARE SSH_LOG_WARNING 348 357 #define SSH_LOG_NONE 0 358 359 #define SSH_LOG_WARN 1 360 361 #define SSH_LOG_INFO 2 362 363 #define SSH_LOG_DEBUG 3 364 365 #define SSH_LOG_TRACE 4 366 369 enum ssh_options_e { 370 SSH_OPTIONS_HOST, 371 SSH_OPTIONS_PORT, 372 SSH_OPTIONS_PORT_STR, 373 SSH_OPTIONS_FD, 374 SSH_OPTIONS_USER, 375 SSH_OPTIONS_SSH_DIR, 376 SSH_OPTIONS_IDENTITY, 377 SSH_OPTIONS_ADD_IDENTITY, 378 SSH_OPTIONS_KNOWNHOSTS, 379 SSH_OPTIONS_TIMEOUT, 380 SSH_OPTIONS_TIMEOUT_USEC, 381 SSH_OPTIONS_SSH1, 382 SSH_OPTIONS_SSH2, 383 SSH_OPTIONS_LOG_VERBOSITY, 384 SSH_OPTIONS_LOG_VERBOSITY_STR, 385 SSH_OPTIONS_CIPHERS_C_S, 386 SSH_OPTIONS_CIPHERS_S_C, 387 SSH_OPTIONS_COMPRESSION_C_S, 388 SSH_OPTIONS_COMPRESSION_S_C, 389 SSH_OPTIONS_PROXYCOMMAND, 390 SSH_OPTIONS_BINDADDR, 391 SSH_OPTIONS_STRICTHOSTKEYCHECK, 392 SSH_OPTIONS_COMPRESSION, 393 SSH_OPTIONS_COMPRESSION_LEVEL, 394 SSH_OPTIONS_KEY_EXCHANGE, 395 SSH_OPTIONS_HOSTKEYS, 396 SSH_OPTIONS_GSSAPI_SERVER_IDENTITY, 397 SSH_OPTIONS_GSSAPI_CLIENT_IDENTITY, 398 SSH_OPTIONS_GSSAPI_DELEGATE_CREDENTIALS, 399 SSH_OPTIONS_HMAC_C_S, 400 SSH_OPTIONS_HMAC_S_C, 401 SSH_OPTIONS_PASSWORD_AUTH, 402 SSH_OPTIONS_PUBKEY_AUTH, 403 SSH_OPTIONS_KBDINT_AUTH, 404 SSH_OPTIONS_GSSAPI_AUTH, 405 SSH_OPTIONS_GLOBAL_KNOWNHOSTS, 406 SSH_OPTIONS_NODELAY, 407 SSH_OPTIONS_PUBLICKEY_ACCEPTED_TYPES, 408 SSH_OPTIONS_PROCESS_CONFIG, 409 SSH_OPTIONS_REKEY_DATA, 410 SSH_OPTIONS_REKEY_TIME, 411 }; 412 413 enum { 415 SSH_SCP_WRITE, 417 SSH_SCP_READ, 418 SSH_SCP_RECURSIVE = 0x10 419 }; 420 421 enum ssh_scp_request_types { 423 SSH_SCP_REQUEST_NEWDIR = 1, 425 SSH_SCP_REQUEST_NEWFILE, 427 SSH_SCP_REQUEST_EOF, 429 SSH_SCP_REQUEST_ENDDIR, 431 SSH_SCP_REQUEST_WARNING 432 }; 433 434 enum ssh_connector_flags_e { 436 SSH_CONNECTOR_STDOUT = 1, 438 SSH_CONNECTOR_STDERR = 2, 440 SSH_CONNECTOR_BOTH = 3 441 }; 442 443 LIBSSH_API int ssh_blocking_flush ( sesión ssh_session , int timeout); 444 LIBSSH_API ssh_channel ssh_channel_accept_x11 ( canal ssh_channel , int timeout_ms); 445 LIBSSH_API int ssh_channel_change_pty_size ( canal ssh_channel , int cols, int filas); 446 LIBSSH_API int ssh_channel_close ( canal ssh_channel ); 447 LIBSSH_API void ssh_channel_free ( canal ssh_channel ); 448 LIBSSH_API int ssh_channel_get_exit_status ( canal ssh_channel ); 449 LIBSSH_API ssh_session ssh_channel_get_session ( canal ssh_channel ); 450 LIBSSH_API int ssh_channel_is_closed ( canal ssh_channel ); 451 LIBSSH_API int ssh_channel_is_eof ( canal ssh_channel ); 452 LIBSSH_API int ssh_channel_is_open ( canal ssh_channel ); 453 LIBSSH_API ssh_channel ssh_channel_new ( sesión ssh_session ); 454 LIBSSH_API int ssh_channel_open_auth_agent ( canal ssh_channel ); 455 LIBSSH_API int ssh_channel_open_forward ( canal ssh_channel , const char * host remoto, 456 int puerto remoto, const char * sourcehost, int localport); 457 LIBSSH_API int ssh_channel_open_session ( canal ssh_channel ); 458 LIBSSH_API int ssh_channel_open_x11 ( canal ssh_channel , const char * orig_addr, int orig_port); 459 LIBSSH_API int ssh_channel_poll ( canal ssh_channel , int is_stderr); 460 LIBSSH_API int ssh_channel_poll_timeout ( canal ssh_channel , int timeout, int is_stderr); 461 LIBSSH_API int ssh_channel_read ( canal ssh_channel , void * dest, uint32_t count, int is_stderr); 462 LIBSSH_API int ssh_channel_read_timeout ( ssh_channel channel, void * dest, uint32_t count, int is_stderr, int timeout_ms); 463 LIBSSH_API int ssh_channel_read_nonblocking ( canal ssh_channel , void * dest, uint32_t count, 464 int is_stderr); 465 LIBSSH_API int ssh_channel_request_env ( canal ssh_channel , const char * nombre, const char * valor); 466 LIBSSH_API int ssh_channel_request_exec ( canal ssh_channel , const char * cmd); 467 LIBSSH_API int ssh_channel_request_pty ( canal ssh_channel ); 468 LIBSSH_API int ssh_channel_request_pty_size ( canal ssh_channel , const char * term, 469 int cols, int filas); 470 LIBSSH_API int ssh_channel_request_shell ( canal ssh_channel ); 471 LIBSSH_API int ssh_channel_request_send_signal ( canal ssh_channel , const char * signum); 472 LIBSSH_API int ssh_channel_request_send_break ( ssh_channel canal, longitud uint32_t); 473 LIBSSH_API int ssh_channel_request_sftp ( canal ssh_channel ); 474 LIBSSH_API int ssh_channel_request_subsystem ( canal ssh_channel , const char * subsistema); 475 LIBSSH_API int ssh_channel_request_x11 ( canal ssh_channel , int single_connection, const char * protocolo, 476 const char * cookie, int número_pantalla); 477 LIBSSH_API int ssh_channel_request_auth_agent ( canal ssh_channel ); 478 LIBSSH_API int ssh_channel_send_eof ( canal ssh_channel ); 479 LIBSSH_API int ssh_channel_select ( ssh_channel * readchans, ssh_channel * writechans, ssh_channel * exceptchans, struct 480 timeval * tiempo de espera); 481 LIBSSH_API void ssh_channel_set_blocking ( canal ssh_channel , bloqueo int ); 482 LIBSSH_API void ssh_channel_set_counter ( canal ssh_channel , 483 contador ssh_counter ); 484 LIBSSH_API int ssh_channel_write ( canal ssh_channel , const void * datos, uint32_t len); 485 LIBSSH_API int ssh_channel_write_stderr ( canal ssh_channel , 486 const void * datos, 487 uint32_t len); 488 LIBSSH_API uint32_t ssh_channel_window_size ( canal ssh_channel ); 489 490 LIBSSH_API char * ssh_basename ( const char * ruta); 491 LIBSSH_API void ssh_clean_pubkey_hash ( carácter sin firmar ** hash); 492 LIBSSH_API int ssh_connect ( sesión ssh_session ); 493 494 LIBSSH_API ssh_connector ssh_connector_new ( sesión ssh_session ); 495 LIBSSH_API void ssh_connector_free ( conector ssh_connector ); 496 LIBSSH_API int ssh_connector_set_in_channel ( conector ssh_connector , 497 canal ssh_channel , 498 enum ssh_connector_flags_e banderas); 499 LIBSSH_API int ssh_connector_set_out_channel ( conector ssh_connector , 500 canal ssh_channel , 501 enum ssh_connector_flags_e flags); 502 LIBSSH_API void ssh_connector_set_in_fd ( ssh_connector conector, fd socket_t); 503 LIBSSH_API vacío ssh_connector_set_out_fd ( ssh_connector conector, fd socket_t); 504 505 LIBSSH_API const char * ssh_copyright ( void ); 506 LIBSSH_API void ssh_disconnect ( sesión ssh_session ); 507 LIBSSH_API char * ssh_dirname ( const char * ruta); 508 LIBSSH_API int ssh_finalize ( void ); 509 510 / * REENVÍO DE PUERTO INVERSO * / 511 LIBSSH_API ssh_channel ssh_channel_accept_forward ( sesión ssh_session , 512 int timeout_ms, 513 int * puerto_destino); 514 LIBSSH_API int ssh_channel_cancel_forward ( sesión ssh_session , 515 const char * dirección, 516 int puerto); 517 LIBSSH_API int ssh_channel_listen_forward ( sesión ssh_session , 518 const char * dirección, 519 puerto internacional , 520 int * puerto_delimitado); 521 522 LIBSSH_API void ssh_free ( sesión ssh_session ); 523 LIBSSH_API const char * ssh_get_disconnect_message ( sesión ssh_session ); 524 LIBSSH_API const char * ssh_get_error ( void * error); 525 LIBSSH_API int ssh_get_error_code ( void * error); 526 LIBSSH_API socket_t ssh_get_fd ( sesión ssh_session ); 527 LIBSSH_API char * ssh_get_hexa ( const unsigned char * what, size_t len); 528 LIBSSH_API char * ssh_get_issue_banner ( sesión ssh_session ); 529 LIBSSH_API int ssh_get_openssh_version ( sesión ssh_session ); 530 531 LIBSSH_API int ssh_get_server_publickey ( ssh_session sesión, clave ssh tecla *); 532 533 enum ssh_publickey_hash_type { 534 SSH_PUBLICKEY_HASH_SHA1, 535 SSH_PUBLICKEY_HASH_MD5, 536 SSH_PUBLICKEY_HASH_SHA256 537 }; 538 LIBSSH_API int ssh_get_publickey_hash ( clave const ssh_key , 539 enum ssh_publickey_hash_type type, 540 char ** hash sin firmar , 541 size_t * HLEN); 542 543 / * FUNCIONES ANULADAS * / 544 SSH_DEPRECATED LIBSSH_API int ssh_get_pubkey_hash ( sesión ssh_session , carácter sin firmar ** hash); 545 SSH_DEPRECATED LIBSSH_API ssh_channel ssh_forward_accept ( sesión ssh_session , int timeout_ms); 546 SSH_DEPRECATED LIBSSH_API int ssh_forward_cancel ( sesión ssh_session , const char * dirección, int puerto); 547 SSH_DEPRECATED LIBSSH_API int ssh_forward_listen ( sesión ssh_session , const char * dirección, int puerto, int * bound_port); 548 SSH_DEPRECATED LIBSSH_API int ssh_get_publickey ( ssh_session sesión, clave ssh tecla *); 549 SSH_DEPRECATED LIBSSH_API int ssh_write_knownhost ( sesión ssh_session ); 550 SSH_DEPRECATED LIBSSH_API char * ssh_dump_knownhost ( sesión ssh_session ); 551 SSH_DEPRECATED LIBSSH_API int ssh_is_server_known ( sesión ssh_session ); 552 SSH_DEPRECATED LIBSSH_API void ssh_print_hexa ( const char * descr, const unsigned char * what, size_t len); 553 554 555 556 LIBSSH_API int ssh_get_random ( void * donde, int len, int fuerte); 557 LIBSSH_API int ssh_get_version ( sesión ssh_session ); 558 LIBSSH_API int ssh_get_status ( sesión ssh_session ); 559 LIBSSH_API int ssh_get_poll_flags ( sesión ssh_session ); 560 LIBSSH_API int ssh_init ( vacío ); 561 LIBSSH_API int ssh_is_blocking ( sesión ssh_session ); 562 LIBSSH_API int ssh_is_connected ( sesión ssh_session ); 563 564 / * HOSTS CONOCIDOS * / 565 LIBSSH_API void ssh_knownhosts_entry_free ( struct ssh_knownhosts_entry * entrada); 566 #define SSH_KNOWNHOSTS_ENTRY_FREE (e) do {\ 567 si ((e)! = NULO) {\ 568 ssh_knownhosts_entry_free (e); \ 569 e = NULO; \ 570 } \ 571 } mientras (0) 572 573 LIBSSH_API int ssh_known_hosts_parse_line ( const char * host, 574 const char * línea, 575 entrada struct ssh_knownhosts_entry **); 576 LIBSSH_API enumeración ssh_known_hosts_e ssh_session_has_known_hosts_entry ( sesión ssh_session ); 577 578 LIBSSH_API int ssh_session_export_known_hosts_entry ( sesión ssh_session , 579 Char ** pentry_string); 580 LIBSSH_API int ssh_session_update_known_hosts ( sesión ssh_session ); 581 582 LIBSSH_API enumeración ssh_known_hosts_e 583 ssh_session_get_known_hosts_entry ( sesión ssh_session , 584 struct ssh_knownhosts_entry ** pentry); 585 LIBSSH_API enumeración ssh_known_hosts_e ssh_session_is_known_server ( sesión ssh_session ); 586 587 / * REGISTRO * / 588 LIBSSH_API int ssh_set_log_level ( nivel int ); 589 LIBSSH_API int ssh_get_log_level ( void ); 590 LIBSSH_API void * ssh_get_log_userdata ( void ); 591 LIBSSH_API int ssh_set_log_userdata ( void * datos); 592 LIBSSH_API void _ssh_log ( int verbosidad, 593 const char * función , 594 const char * formato, ...) PRINTF_ATTRIBUTE (3, 4); 595 596 / * legado * / 597 SSH_DEPRECATED LIBSSH_API void ssh_log ( sesión ssh_session , 598 int prioridad, 599 const char * formato, ...) PRINTF_ATTRIBUTE (3, 4); 600 601 LIBSSH_API ssh_channel ssh_message_channel_request_open_reply_accept ( ssh_message msg); 602 LIBSSH_API int ssh_message_channel_request_reply_success ( ssh_message msg); 603 #define SSH_MESSAGE_FREE (x) \ 604 hacer {if ((x)! = NULL) {ssh_message_free (x); (x) = NULO; }} mientras (0) 605 LIBSSH_API void ssh_message_free ( ssh_message msg); 606 LIBSSH_API ssh_message ssh_message_get ( sesión ssh_session ); 607 LIBSSH_API int ssh_message_subtype ( ssh_message msg); 608 LIBSSH_API int ssh_message_type ( ssh_message msg); 609 LIBSSH_API int ssh_mkdir ( const char * nombre de ruta, modo_t); 610 LIBSSH_API ssh_session ssh_new(void); 611 612 LIBSSH_API int ssh_options_copy(ssh_session src, ssh_session *dest); 613 LIBSSH_API int ssh_options_getopt(ssh_session session, int *argcptr, char **argv); 614 LIBSSH_API int ssh_options_parse_config(ssh_session session, const char *filename); 615 LIBSSH_API int ssh_options_set(ssh_session session, enum ssh_options_e type, 616 const void *value); 617 LIBSSH_API int ssh_options_get(ssh_session session, enum ssh_options_e type, 618 char **value); 619 LIBSSH_API int ssh_options_get_port(ssh_session session, unsigned int * port_target); 620 LIBSSH_API int ssh_pcap_file_close(ssh_pcap_file pcap); 621 LIBSSH_API void ssh_pcap_file_free(ssh_pcap_file pcap); 622 LIBSSH_API ssh_pcap_file ssh_pcap_file_new(void); 623 LIBSSH_API int ssh_pcap_file_open(ssh_pcap_file pcap, const char *filename); 624 638 typedef int (*ssh_auth_callback) (const char *prompt, char *buf, size_t len, 639 int echo, int verify, void *userdata); 640 641 LIBSSH_API ssh_key ssh_key_new(void); 642 #define SSH_KEY_FREE(x) \ 643 do { if ((x) != NULL) { ssh_key_free(x); x = NULL; } } while(0) 644 LIBSSH_API void ssh_key_free (ssh_key key); 645 LIBSSH_API enum ssh_keytypes_e ssh_key_type(const ssh_key key); 646 LIBSSH_API const char *ssh_key_type_to_char(enum ssh_keytypes_e type); 647 LIBSSH_API enum ssh_keytypes_e ssh_key_type_from_name(const char *name); 648 LIBSSH_API int ssh_key_is_public(const ssh_key k); 649 LIBSSH_API int ssh_key_is_private(const ssh_key k); 650 LIBSSH_API int ssh_key_cmp(const ssh_key k1, 651 const ssh_key k2, 652 enum ssh_keycmp_e what); 653 654 LIBSSH_API int ssh_pki_generate(enum ssh_keytypes_e type, int parameter, 655 ssh_key *pkey); 656 LIBSSH_API int ssh_pki_import_privkey_base64(const char *b64_key, 657 const char *passphrase, 658 ssh_auth_callback auth_fn, 659 void *auth_data, 660 ssh_key *pkey); 661 LIBSSH_API int ssh_pki_export_privkey_base64(const ssh_key privkey, 662 const char *passphrase, 663 ssh_auth_callback auth_fn, 664 void *auth_data, 665 char **b64_key); 666 LIBSSH_API int ssh_pki_import_privkey_file(const char *filename, 667 const char *passphrase, 668 ssh_auth_callback auth_fn, 669 void *auth_data, 670 ssh_key *pkey); 671 LIBSSH_API int ssh_pki_export_privkey_file(const ssh_key privkey, 672 const char *passphrase, 673 ssh_auth_callback auth_fn, 674 void *auth_data, 675 const char *filename); 676 677 LIBSSH_API int ssh_pki_copy_cert_to_privkey(const ssh_key cert_key, 678 ssh_key privkey); 679 680 LIBSSH_API int ssh_pki_import_pubkey_base64(const char *b64_key, 681 enum ssh_keytypes_e type, 682 ssh_key *pkey); 683 LIBSSH_API int ssh_pki_import_pubkey_file(const char *filename, 684 ssh_key *pkey); 685 686 LIBSSH_API int ssh_pki_import_cert_base64(const char *b64_cert, 687 enum ssh_keytypes_e type, 688 ssh_key *pkey); 689 LIBSSH_API int ssh_pki_import_cert_file(const char *filename, 690 ssh_key *pkey); 691 692 LIBSSH_API int ssh_pki_export_privkey_to_pubkey(const ssh_key privkey, 693 ssh_key *pkey); 694 LIBSSH_API int ssh_pki_export_pubkey_base64(const ssh_key key, 695 char **b64_key); 696 LIBSSH_API int ssh_pki_export_pubkey_file(const ssh_key key, 697 const char *filename); 698 699 LIBSSH_API const char *ssh_pki_key_ecdsa_name(const ssh_key key); 700 701 LIBSSH_API char *ssh_get_fingerprint_hash(enum ssh_publickey_hash_type type, 702 unsigned char *hash, 703 size_t len); 704 LIBSSH_API void ssh_print_hash(enum ssh_publickey_hash_type type, unsigned char *hash, size_t len); 705 LIBSSH_API int ssh_send_ignore (ssh_session session, const char *data); 706 LIBSSH_API int ssh_send_debug (ssh_session session, const char *message, int always_display); 707 LIBSSH_API void ssh_gssapi_set_creds(ssh_session session, const ssh_gssapi_creds creds); 708 LIBSSH_API int ssh_scp_accept_request(ssh_scp scp); 709 LIBSSH_API int ssh_scp_close(ssh_scp scp); 710 LIBSSH_API int ssh_scp_deny_request(ssh_scp scp, const char *reason); 711 LIBSSH_API void ssh_scp_free(ssh_scp scp); 712 LIBSSH_API int ssh_scp_init(ssh_scp scp); 713 LIBSSH_API int ssh_scp_leave_directory(ssh_scp scp); 714 LIBSSH_API ssh_scp ssh_scp_new(ssh_session session, int mode, const char *location); 715 LIBSSH_API int ssh_scp_pull_request(ssh_scp scp); 716 LIBSSH_API int ssh_scp_push_directory(ssh_scp scp, const char *dirname, int mode); 717 LIBSSH_API int ssh_scp_push_file(ssh_scp scp, const char *filename, size_t size, int perms); 718 LIBSSH_API int ssh_scp_push_file64(ssh_scp scp, const char *filename, uint64_t size, int perms); 719 LIBSSH_API int ssh_scp_read(ssh_scp scp, void *buffer, size_t size); 720 LIBSSH_API const char *ssh_scp_request_get_filename(ssh_scp scp); 721 LIBSSH_API int ssh_scp_request_get_permissions(ssh_scp scp); 722 LIBSSH_API size_t ssh_scp_request_get_size(ssh_scp scp); 723 LIBSSH_API uint64_t ssh_scp_request_get_size64(ssh_scp scp); 724 LIBSSH_API const char *ssh_scp_request_get_warning(ssh_scp scp); 725 LIBSSH_API int ssh_scp_write(ssh_scp scp, const void *buffer, size_t len); 726 LIBSSH_API int ssh_select(ssh_channel *channels, ssh_channel *outchannels, socket_t maxfd, 727 fd_set *readfds, struct timeval *timeout); 728 LIBSSH_API int ssh_service_request(ssh_session session, const char *service); 729 LIBSSH_API int ssh_set_agent_channel(ssh_session session, ssh_channel channel); 730 LIBSSH_API int ssh_set_agent_socket(ssh_session session, socket_t fd); 731 LIBSSH_API void ssh_set_blocking(ssh_session session, int blocking); 732 LIBSSH_API void ssh_set_counters(ssh_session session, ssh_counter scounter, 733 ssh_counter rcounter); 734 LIBSSH_API void ssh_set_fd_except(ssh_session session); 735 LIBSSH_API void ssh_set_fd_toread(ssh_session session); 736 LIBSSH_API void ssh_set_fd_towrite(ssh_session session); 737 LIBSSH_API void ssh_silent_disconnect(ssh_session session); 738 LIBSSH_API int ssh_set_pcap_file(ssh_session session, ssh_pcap_file pcapfile); 739 740 /* USERAUTH */ 741 LIBSSH_API int ssh_userauth_none(ssh_session session, const char *username); 742 LIBSSH_API int ssh_userauth_list(ssh_session session, const char *username); 743 LIBSSH_API int ssh_userauth_try_publickey(ssh_session session, 744 const char *username, 745 const ssh_key pubkey); 746 LIBSSH_API int ssh_userauth_publickey(ssh_session session, 747 const char *username, 748 const ssh_key privkey); 749 #ifndef _WIN32 750 LIBSSH_API int ssh_userauth_agent(ssh_session session, 751 const char *username); 752 #endif 753 LIBSSH_API int ssh_userauth_publickey_auto(ssh_session session, 754 const char *username, 755 const char *passphrase); 756 LIBSSH_API int ssh_userauth_password(ssh_session session, 757 const char *username, 758 const char *password); 759 760 LIBSSH_API int ssh_userauth_kbdint(ssh_session session, const char *user, const char *submethods); 761 LIBSSH_API const char *ssh_userauth_kbdint_getinstruction(ssh_session session); 762 LIBSSH_API const char *ssh_userauth_kbdint_getname(ssh_session session); 763 LIBSSH_API int ssh_userauth_kbdint_getnprompts(ssh_session session); 764 LIBSSH_API const char *ssh_userauth_kbdint_getprompt(ssh_session session, unsigned int i, char *echo); 765 LIBSSH_API int ssh_userauth_kbdint_getnanswers(ssh_session session); 766 LIBSSH_API const char *ssh_userauth_kbdint_getanswer(ssh_session session, unsigned int i); 767 LIBSSH_API int ssh_userauth_kbdint_setanswer(ssh_session session, unsigned int i, 768 const char *answer); 769 LIBSSH_API int ssh_userauth_gssapi(ssh_session session); 770 LIBSSH_API const char *ssh_version(int req_version); 771 772 LIBSSH_API void ssh_string_burn(ssh_string str); 773 LIBSSH_API ssh_string ssh_string_copy(ssh_string str); 774 LIBSSH_API void *ssh_string_data(ssh_string str); 775 LIBSSH_API int ssh_string_fill(ssh_string str, const void *data, size_t len); 776 #define SSH_STRING_FREE(x) \ 777 do { if ((x) != NULL) { ssh_string_free(x); x = NULL; } } while(0) 778 LIBSSH_API void ssh_string_free(ssh_string str); 779 LIBSSH_API ssh_string ssh_string_from_char(const char *what); 780 LIBSSH_API size_t ssh_string_len(ssh_string str); 781 LIBSSH_API ssh_string ssh_string_new(size_t size); 782 LIBSSH_API const char *ssh_string_get_char(ssh_string str); 783 LIBSSH_API char *ssh_string_to_char(ssh_string str); 784 #define SSH_STRING_FREE_CHAR(x) \ 785 do { if ((x) != NULL) { ssh_string_free_char(x); x = NULL; } } while(0) 786 LIBSSH_API void ssh_string_free_char(char *s); 787 788 LIBSSH_API int ssh_getpass(const char *prompt, char *buf, size_t len, int echo, 789 int verify); 790 791 792 typedef int (*ssh_event_callback)(socket_t fd, int revents, void *userdata); 793 794 LIBSSH_API ssh_event ssh_event_new(void); 795 LIBSSH_API int ssh_event_add_fd(ssh_event event, socket_t fd, short events, 796 ssh_event_callback cb, void *userdata); 797 LIBSSH_API int ssh_event_add_session(ssh_event event, ssh_session session); 798 LIBSSH_API int ssh_event_add_connector(ssh_event event, ssh_connector connector); 799 LIBSSH_API int ssh_event_dopoll(ssh_event event, int timeout); 800 LIBSSH_API int ssh_event_remove_fd(ssh_event event, socket_t fd); 801 LIBSSH_API int ssh_event_remove_session(ssh_event event, ssh_session session); 802 LIBSSH_API int ssh_event_remove_connector(ssh_event event, ssh_connector connector); 803 LIBSSH_API void ssh_event_free(ssh_event event); 804 LIBSSH_API const char* ssh_get_clientbanner(ssh_session session); 805 LIBSSH_API const char* ssh_get_serverbanner(ssh_session session); 806 LIBSSH_API const char* ssh_get_kex_algo(ssh_session session); 807 LIBSSH_API const char* ssh_get_cipher_in(ssh_session session); 808 LIBSSH_API const char* ssh_get_cipher_out(ssh_session session); 809 LIBSSH_API const char* ssh_get_hmac_in(ssh_session session); 810 LIBSSH_API const char* ssh_get_hmac_out(ssh_session session); 811 812 LIBSSH_API ssh_buffer ssh_buffer_new(void); 813 LIBSSH_API void ssh_buffer_free(ssh_buffer buffer); 814 #define SSH_BUFFER_FREE(x) \ 815 do { if ((x) != NULL) { ssh_buffer_free(x); x = NULL; } } while(0) 816 LIBSSH_API int ssh_buffer_reinit(ssh_buffer buffer); 817 LIBSSH_API int ssh_buffer_add_data(ssh_buffer buffer, const void *data, uint32_t len); 818 LIBSSH_API uint32_t ssh_buffer_get_data(ssh_buffer buffer, void *data, uint32_t requestedlen); 819 LIBSSH_API void *ssh_buffer_get(ssh_buffer buffer); 820 LIBSSH_API uint32_t ssh_buffer_get_len(ssh_buffer buffer); 821 822 #ifndef LIBSSH_LEGACY_0_4 823 #include "libssh/legacy.h" 824 #endif 825 826 #ifdef __cplusplus 827 } 828 #endif 829 #endif /* _LIBSSH_H */</small> </body> </html> <!-- Juan Angel Luzardo Muslera / montevideo Uruguay -->
