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sirixdb / SirixSirixDB is an an embeddable, bitemporal, append-only database system and event store, storing immutable lightweight snapshots. It keeps the full history of each resource. Every commit stores a space-efficient snapshot through structural sharing. It is log-structured and never overwrites data. SirixDB uses a novel page-level versioning approach.
heuer / SegnoPython QR Code and Micro QR Code encoder
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.
elzobrito / ESAA SecurityESAA-Security applies the ESAA architecture to automated security auditing. LLM-based agents execute a structured audit across 16 security domains, governed by the same immutable append-only event log, boundary contracts, and hash-verified projections that ESAA provides for software engineering workflows. Every finding, classification, and remediat
embano1 / MemlogA Kafka log inspired in-memory and append-only data structure
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glebmachine / Postcss EasyspritesEasy sprites for postcss. Just append `#spritename` to the end of image url. No complicated mechanism or strict folder structure.
mafintosh / Append TreeModel a tree structure on top off an append-only log.
tailcallhq / Tailcall ChunkAn immutable data structure with O(1) append, prepend, and concat time complexity.
nicola-gigante / BitvectorA C++ container-like data structure for storing a vector of bits with fast appending on both sides and fast insertion in the middle, all in succinct space
bwaldvogel / Log4j Systemd Journal AppenderLog4j appender for systemd-journal that maintains structured log data
Raynos / Append OnlyAppend only scuttlebutt structure
ultranet1 / APACHE AIRFLOW DATA PIPELINESProject Description: A music streaming company wants to introduce more automation and monitoring to their data warehouse ETL pipelines and they have come to the conclusion that the best tool to achieve this is Apache Airflow. As their Data Engineer, I was tasked to create a reusable production-grade data pipeline that incorporates data quality checks and allows for easy backfills. Several analysts and Data Scientists rely on the output generated by this pipeline and it is expected that the pipeline runs daily on a schedule by pulling new data from the source and store the results to the destination. Data Description: The source data resides in S3 and needs to be processed in a data warehouse in Amazon Redshift. The source datasets consist of JSON logs that tell about user activity in the application and JSON metadata about the songs the users listen to. Data Pipeline design: At a high-level the pipeline does the following tasks. Extract data from multiple S3 locations. Load the data into Redshift cluster. Transform the data into a star schema. Perform data validation and data quality checks. Calculate the most played songs for the specified time interval. Load the result back into S3. dag Structure of the Airflow DAG Design Goals: Based on the requirements of our data consumers, our pipeline is required to adhere to the following guidelines: The DAG should not have any dependencies on past runs. On failure, the task is retried for 3 times. Retries happen every 5 minutes. Catchup is turned off. Do not email on retry. Pipeline Implementation: Apache Airflow is a Python framework for programmatically creating workflows in DAGs, e.g. ETL processes, generating reports, and retraining models on a daily basis. The Airflow UI automatically parses our DAG and creates a natural representation for the movement and transformation of data. A DAG simply is a collection of all the tasks you want to run, organized in a way that reflects their relationships and dependencies. A DAG describes how you want to carry out your workflow, and Operators determine what actually gets done. By default, airflow comes with some simple built-in operators like PythonOperator, BashOperator, DummyOperator etc., however, airflow lets you extend the features of a BaseOperator and create custom operators. For this project, I developed several custom operators. operators The description of each of these operators follows: StageToRedshiftOperator: Stages data to a specific redshift cluster from a specified S3 location. Operator uses templated fields to handle partitioned S3 locations. LoadFactOperator: Loads data to the given fact table by running the provided sql statement. Supports delete-insert and append style loads. LoadDimensionOperator: Loads data to the given dimension table by running the provided sql statement. Supports delete-insert and append style loads. SubDagOperator: Two or more operators can be grouped into one task using the SubDagOperator. Here, I am grouping the tasks of checking if the given table has rows and then run a series of data quality sql commands. HasRowsOperator: Data quality check to ensure that the specified table has rows. DataQualityOperator: Performs data quality checks by running sql statements to validate the data. SongPopularityOperator: Calculates the top ten most popular songs for a given interval. The interval is dictated by the DAG schedule. UnloadToS3Operator: Stores the analysis result back to the given S3 location. Code for each of these operators is located in the plugins/operators directory. Pipeline Schedule and Data Partitioning: The events data residing on S3 is partitioned by year (2018) and month (11). Our task is to incrementally load the event json files, and run it through the entire pipeline to calculate song popularity and store the result back into S3. In this manner, we can obtain the top songs per day in an automated fashion using the pipeline. Please note, this is a trivial analyis, but you can imagine other complex queries that follow similar structure. S3 Input events data: s3://<bucket>/log_data/2018/11/ 2018-11-01-events.json 2018-11-02-events.json 2018-11-03-events.json .. 2018-11-28-events.json 2018-11-29-events.json 2018-11-30-events.json S3 Output song popularity data: s3://skuchkula-topsongs/ songpopularity_2018-11-01 songpopularity_2018-11-02 songpopularity_2018-11-03 ... songpopularity_2018-11-28 songpopularity_2018-11-29 songpopularity_2018-11-30 The DAG can be configured by giving it some default_args which specify the start_date, end_date and other design choices which I have mentioned above. default_args = { 'owner': 'shravan', 'start_date': datetime(2018, 11, 1), 'end_date': datetime(2018, 11, 30), 'depends_on_past': False, 'email_on_retry': False, 'retries': 3, 'retry_delay': timedelta(minutes=5), 'catchup_by_default': False, 'provide_context': True, } How to run this project? Step 1: Create AWS Redshift Cluster using either the console or through the notebook provided in create-redshift-cluster Run the notebook to create AWS Redshift Cluster. Make a note of: DWN_ENDPOINT :: dwhcluster.c4m4dhrmsdov.us-west-2.redshift.amazonaws.com DWH_ROLE_ARN :: arn:aws:iam::506140549518:role/dwhRole Step 2: Start Apache Airflow Run docker-compose up from the directory containing docker-compose.yml. Ensure that you have mapped the volume to point to the location where you have your DAGs. NOTE: You can find details of how to manage Apache Airflow on mac here: https://gist.github.com/shravan-kuchkula/a3f357ff34cf5e3b862f3132fb599cf3 start_airflow Step 3: Configure Apache Airflow Hooks On the left is the S3 connection. The Login and password are the IAM user's access key and secret key that you created. Basically, by using these credentials, we are able to read data from S3. On the right is the redshift connection. These values can be easily gathered from your Redshift cluster connections Step 4: Execute the create-tables-dag This dag will create the staging, fact and dimension tables. The reason we need to trigger this manually is because, we want to keep this out of main dag. Normally, creation of tables can be handled by just triggering a script. But for the sake of illustration, I created a DAG for this and had Airflow trigger the DAG. You can turn off the DAG once it is completed. After running this DAG, you should see all the tables created in the AWS Redshift. Step 5: Turn on the load_and_transform_data_in_redshift dag As the execution start date is 2018-11-1 with a schedule interval @daily and the execution end date is 2018-11-30, Airflow will automatically trigger and schedule the dag runs once per day for 30 times. Shown below are the 30 DAG runs ranging from start_date till end_date, that are trigged by airflow once per day. schedule
pylls / BalloonA forward-secure append-only persistent authenticated data structure
logzio / Logzio Java SenderJava library to send structured logs (JSONs) to Logz.io via HTTPS. This the core component of Logzio Appenders in the different logging frameworks (log4j, log4j2, Logback) which can also be used on its own
Aryia-Behroziuan / SQL Injection AttacksSQL Injection attack is the most common website hacking technique. Most websites use Structured Query Language (SQL) to interact with databases. SQL allows the website to create, retrieve, update, and delete database records. It used for everything from logging a user into the website to storing details of an eCommerce transaction. An SQL injection attack places SQL into a web form in an attempt to get the application to run it. For example, instead of typing plain text into a username or password field, a hacker may type in ‘ OR 1=1. If the application appends this string directly to an SQL command that is designed to check if a user exists in the database, it will always return true. This can allow a hacker to gain access to a restricted section of a website. Other SQL injection attacks can be used to delete data from the database or insert new data. Hackers sometimes use automated tools to perform SQL injections on remote websites. They will scan thousands of websites, testing many types of injection attacks until they are successful. SQL injection attacks can be prevented by correctly filtering user input. Most programming languages have special functions to safely handle user input that is going to be used in an SQL query.
VakinduPhilliam / NodeJS Clean ArchitectureNodeJS Clean Architecture. Clean Architecture is an opinionated boilerplate for Node web APIs focused on separation of concerns and scalability with Uncle Bob Clean Architecture implementation. Features: > Union - Layered folder structure: code organization focused on codebase scalability. > Instant feedback and reload: use Nodemon to automatically reload the server after a file change when on development mode, makes the development faster and easier. > Scalable and easy to use web server. > Use Express for requests routing and middlewares. There are some essential middlewares for web APIs already setup, like body-parser, compression, and method-override. > Database integration: Mongoose, a MongoDB Database Connection, is already integrated; you just have to set the authentication configurations. > Prepared for testing: The test suite uses Mocha, Chai and is prepared to run unit, integration and functional tests right from the beginning. A FactoryGirl adapter for Mongo is setup to make your tests DRY as well, and the tests generate code coverage measurement with. You should read about the Chai plugins that are setup by default too. > Dependency injection: With Awilix, a practical dependency injection library, the code will not be coupled and it'll still be easy to resolve automatically the dependencies on the runtime and mock them during the tests. It's even possible inject dependencies on your controllers with the Awilix Express adapter. >Logging: The Log4js logger is highly pluggable, being able to append the messages to a file during the development and send them to a logging service when on production. Even the requests (through Morgan) and queries will be logged. > Linter: It's also setup with ESLint to make it easy to ensure a code styling and find code smells. How to use: Notice that the boilerplate comes with a small application for user management already; you can delete it with a npm script after you understand how the boilerplate works but please do the quick start first! 1. Clone the repository. 2. Setup the database on `config/database.js` (there's an example file there to be used with MongoDB). 3. Install the dependencies with `yarn`. 4. Create the development and test databases you have setup on `config/database.js` 5. Run the application in development mode with `npm run dev` 6. Access `http://localhost:3000/api/users` and you're ready to go! Compiled and presented by Vakindu Philliam.
w32zhong / BTreeimplementationCSC 541 Assignment 4 B-Trees Introduction The goals of this assignment are two-fold: To introduce you to searching data on disk using B-trees. To investigate how changing the order of a B-tree affects its performance. Index File During this assignment you will create, search, and manage a binary index file of integer key values. The values stored in the file will be specified by the user. You will structure the file as a B-tree. Program Execution Your program will be named assn_4 and it will run from the command line. Two command line arguments will be specified: the name of the index file, and a B-tree order. assn_4 index-file order For example, executing your program as follows assn_4 index.bin 4 would open an index file called index.bin that holds integer keys stored in an order-4 B-tree. You can assume order will always be ≥ 3. For convenience, we refer to the index file as index.bin throughout the remainder of the assignment. Note. If you are asked open an existing index file, you can assume the B-tree order specified on the command line matches the order that was used when the index file was first created. B-Tree Nodes Your program is allowed to hold individual B-tree nodes in memory—but not the entire tree—at any given time. Your B-tree node should have a structure and usage similar to the following. #include <stdlib.h> int order = 4; /* B-tree order */ typedef struct { /* B-tree node */ int n; /* Number of keys in node */ int *key; /* Node's keys */ long *child; /* Node's child subtree offsets */ } btree_node; btree_node node; /* Single B-tree node */ node.n = 0; node.key = (int *) calloc( order - 1, sizeof( int ) ); node.child = (long *) calloc( order, sizeof( long ) ); Note. Be careful when you're reading and writing data structures with dynamically allocated memory. For example, trying to write node like this fwrite( &node, sizeof( btree_node ), 1, fp ); will write node's key count, the pointer value for its key array, and the pointer value for its child offset array, but it will not write the contents of the key and child offset arrays. The arrays' contents and not pointers to their contents need to be written explicitly instead. fwrite( &node.n, sizeof( int ), 1, fp ); fwrite( node.key, sizeof( int ), order - 1, fp ); fwrite( node.child, sizeof( long ), order, fp ); Reading node structures from disk would use a similar strategy. Root Node Offset In order to manage any tree, you need to locate its root node. Initially the root node will be stored near the front of index.bin. If the root node splits, however, a new root will be appended to the end of index.bin. The root node's offset will be maintained persistently by storing it at the front of index.bin when the file is closed, and reading it when the file is opened. #include <stdio.h> FILE *fp; /* Input file stream */ long root; /* Offset of B-tree root node */ fp = fopen( "index.bin", "r+b" ); /* If file doesn't exist, set root offset to unknown and create * file, otherwise read the root offset at the front of the file */ if ( fp == NULL ) { root = -1; fp = fopen( "index.bin", "w+b" ); fwrite( &root, sizeof( long ), 1, fp ); } else { fread( &root, sizeof( long ), 1, fp ); } User Interface The user will communicate with your program through a set of commands typed at the keyboard. Your program must support four simple commands: add k Add a new integer key with value k to index.bin. find k Find an entry with a key value of k in index.bin, if it exists. print Print the contents and the structure of the B-tree on-screen. end Update the root node's offset at the front of the index.bin, and close the index file, and end the program. Add Use a standard B-tree algorithm to add a new key k to the index file. Search the B-tree for the leaf node L responsible for k. If k is stored in L's key list, print Entry with key=k already exists on-screen and stop, since duplicate keys are not allowed. Create a new key list K that contains L's keys, plus k, sorted in ascending order. If L's key list is not full, replace it with K, update L's child offsets, write L back to disk, and stop. Otherwise, split K about its median key value km into left and right key lists KL = (k0, ... , km-1) and KR = (km+1, ... , kn-1). Use ceiling to calculate m = ⌈(n-1)/2⌉. For example, if n = 3, m = 1. If n = 4, m = 2. Save KL and its associated child offsets in L, then write L back to disk. Save KR and its associated child offsets in a new node R, then append R to the end of the index file. Promote km , L's offset, and R's offset and insert them in L's parent node. If the parent's key list is full, recursively split its list and promote the median to its parent. If a promotion is made to a root node with a full key list, split and create a new root node holding km and offsets to L and R. Find To find key value k in the index file, search the root node for k. If k is found, the search succeeds. Otherwise, determine the child subtree S that is responsible for k, then recursively search S. If k is found during the recursive search, print Entry with key=k exists on-screen. If at any point in the recursion S does not exist, print Entry with key=k does not exist on-screen. Print This command prints the contents of the B-tree on-screen, level by level. Begin by considering a single B-tree node. To print the contents of the node on-screen, print its key values separated by commas. int i; /* Loop counter */ btree_node node; /* Node to print */ long off; /* Node's offset */ for( i = 0; i < node.n - 1; i++ ) { printf( "%d,", node.key[ i ] ); } printf( "%d", node.key[ node.n - 1 ] ); To print the entire tree, start by printing the root node. Next, print the root node's children on a new line, separating each child node's output by a space character. Then, print their children on a new line, and so on until all the nodes in the tree are printed. This approach prints the nodes on each level of the B-tree left-to-right on a common line. For example, inserting the integers 1 through 13 inclusive into an order-4 B-tree would produce the following output. 1: 9 2: 3,6 12 3: 1,2 4,5 7,8 10,11 13 To support trees with more than 9 levels, we leave space for two characters to print the level at the beginning of each line, that is, using printf( "%2d: ", lvl )" or something similar. Hint. To process nodes left-to-right level-by-level, do not use recursion. Instead, create a queue containing the root node's offset. Remove the offset at the front of the queue (initially the root's offset) and read the corresponding node from disk. Append the node's non-empty subtree offsets to the end of the queue, then print the node's key values. Continue until the queue is empty. End This command ends the program by writing the root node's offset to the front of index.bin, then closing the index file. Programming Environment All programs must be written in C, and compiled to run on the remote.eos.ncsu.edu Linux server. Any ssh client can be used to access your Unity account and AFS storage space on this machine. Your assignment will be run automatically, and the output it produces will be compared to known, correct output using diff. Because of this, your output must conform to the print command's description. If it doesn't, diff will report your output as incorrect, and it will be marked accordingly. Supplemental Material In order to help you test your program, we provide example input and output files. input-01.txt, an input file of commands applied to an initially empty index file saved as an order-4 B-tree, and input-02.txt, an input file of commands applied to the index file produced by input-01.txt. The output files show what your program should print after each input file is processed. output-01.txt, the output your program should produce after it processes input-01.txt. output-02.txt, the output your program should produce after it processes input-02.txt. To test your program, you would issue the following commands: % rm index.bin % assn_4 index.bin 4 < input-01.txt > my-output-01.txt % assn_4 index.bin 4 < input-02.txt > my-output-02.txt You can use diff to compare output from your program to our output files. If your program is running properly and your output is formatted correctly, your program should produce output identical to what is in these files. Please remember, the files we're providing here are meant to serve as examples only. Apart from holding valid commands, you cannot make any assumptions about the size or the content of the input files we will use to test your program. Test Files The following files were used to test your program. Order 3 Test Case. input-03.txt output-03-first.txt Order 4 Test Case. input-04.txt output-04-first.txt Order 10 Test Case. input-10-01.txt, input-10-02.txt output-10-01.txt, output-10-02.txt Order 20 Test Case. input-20.txt output-20-first.txt Your program was run on all test cases using order-3, order-4, and order-20 B-trees. % rm index.bin % assn_4 index.bin 3 < input-03.txt > my-output-03.txt % rm index.bin % assn_4 index.bin 4 < input-04.txt > my-output-04.txt % rm index.bin % assn_4 index.bin 20 < input-20.txt > my-output-20.txt Your program was also run twice using an order-10 B-tree, to test its ability to re-use an existing index file. % rm index.bin % assn_4 index.bin 10 < input-10-01.txt > my-output-10-01.txt % assn_4 index.bin 10 < input-10-02.txt > my-output-10-02.txt Hand-In Requirements Use Moodle (the online assignment submission software) to submit the following files: assn_4, a Linux executable of your finished assignment, and all associated source code files (these can be called anything you want). There are four important requirements that your assignment must satisfy. Your executable file must be named exactly as shown above. The program will be run and marked electronically using a script file, so using a different name means the executable will not be found, and subsequently will not be marked. Your program must be compiled to run on remote.eos.ncsu.edu. If we cannot run your program, we will not be able to mark it, and we will be forced to assign you a grade of 0. Your program must produce output that exactly matches the format described in the print command section of this assignment. If it doesn't, it will not pass our automatic comparison to known, correct output. You must submit your source code with your executable prior to the submission deadline. If you do not submit your source code, we cannot MOSS it to check for code similarity. Because of this, any assignment that does not include source code will be assigned a grade of 0. Updated 20-Dec-14
jlira5418 / Web Scraping Challenge## Step 1 - Scraping Complete your initial scraping using Jupyter Notebook, BeautifulSoup, Pandas, and Requests/Splinter. * Create a Jupyter Notebook file called `mission_to_mars.ipynb` and use this to complete all of your scraping and analysis tasks. The following outlines what you need to scrape. ### NASA Mars News * Scrape the [Mars News Site](https://redplanetscience.com/) and collect the latest News Title and Paragraph Text. Assign the text to variables that you can reference later. ```python # Example: news_title = "NASA's Next Mars Mission to Investigate Interior of Red Planet" news_p = "Preparation of NASA's next spacecraft to Mars, InSight, has ramped up this summer, on course for launch next May from Vandenberg Air Force Base in central California -- the first interplanetary launch in history from America's West Coast." ``` ### JPL Mars Space Images - Featured Image * Visit the url for the Featured Space Image site [here](https://spaceimages-mars.com). * Use splinter to navigate the site and find the image url for the current Featured Mars Image and assign the url string to a variable called `featured_image_url`. * Make sure to find the image url to the full size `.jpg` image. * Make sure to save a complete url string for this image. ```python # Example: featured_image_url = 'https://spaceimages-mars.com/image/featured/mars2.jpg' ``` ### Mars Facts * Visit the Mars Facts webpage [here](https://galaxyfacts-mars.com) and use Pandas to scrape the table containing facts about the planet including Diameter, Mass, etc. * Use Pandas to convert the data to a HTML table string. ### Mars Hemispheres * Visit the astrogeology site [here](https://marshemispheres.com/) to obtain high resolution images for each of Mar's hemispheres. * You will need to click each of the links to the hemispheres in order to find the image url to the full resolution image. * Save both the image url string for the full resolution hemisphere image, and the Hemisphere title containing the hemisphere name. Use a Python dictionary to store the data using the keys `img_url` and `title`. * Append the dictionary with the image url string and the hemisphere title to a list. This list will contain one dictionary for each hemisphere. ```python # Example: hemisphere_image_urls = [ {"title": "Valles Marineris Hemisphere", "img_url": "..."}, {"title": "Cerberus Hemisphere", "img_url": "..."}, {"title": "Schiaparelli Hemisphere", "img_url": "..."}, {"title": "Syrtis Major Hemisphere", "img_url": "..."}, ] ``` - - - ## Step 2 - MongoDB and Flask Application Use MongoDB with Flask templating to create a new HTML page that displays all of the information that was scraped from the URLs above. * Start by converting your Jupyter notebook into a Python script called `scrape_mars.py` with a function called `scrape` that will execute all of your scraping code from above and return one Python dictionary containing all of the scraped data. * Next, create a route called `/scrape` that will import your `scrape_mars.py` script and call your `scrape` function. * Store the return value in Mongo as a Python dictionary. * Create a root route `/` that will query your Mongo database and pass the mars data into an HTML template to display the data. * Create a template HTML file called `index.html` that will take the mars data dictionary and display all of the data in the appropriate HTML elements. Use the following as a guide for what the final product should look like, but feel free to create your own design.  - - - ## Step 3 - Submission To submit your work to BootCampSpot, create a new GitHub repository and upload the following: 1. The Jupyter Notebook containing the scraping code used. 2. Screenshots of your final application. 3. Submit the link to your new repository to BootCampSpot. 4. Ensure your repository has regular commits and a thorough README.md file ## Hints * Use Splinter to navigate the sites when needed and BeautifulSoup to help find and parse out the necessary data. * Use Pymongo for CRUD applications for your database. For this homework, you can simply overwrite the existing document each time the `/scrape` url is visited and new data is obtained. * Use Bootstrap to structure your HTML template.
noahjonesx / MarkovModelMarkov Text Generation Problem Description The Infinite Monkey Theorem1 (IFT) says that if a monkey hits keys at random on a typewriter it will almost surely, given an infinite amount of time, produce a chosen text (like the Declaration of Independence, Hamlet, or a script for ... Planet of the Apes). The probability of this actually happening is, of course, very small but the IFT claims that it is still possible. Some people have tested this hypotheis in software and, after billions and billions of simulated years, one virtual monkey was able to type out a sequence of 19 letters that can be found in Shakespeare’s The Two Gentlemen of Verona. (See the April 9, 2007 edition of The New Yorker if you’re interested; but, hypothesis testing with real monkeys2 is far more entertaining.) The IFT might lead to some interesting conversations with Rust Cohle, but the practical applications are few. It does, however, bring up the idea of automated text generation, and there the ideas and applications are not only interesting but also important. Claude Shannon essentially founded the field of information theory with the publication of his landmark paper A Mathematical Theory of Computation3 in 1948. Shannon described a method for using Markov chains to produce a reasonable imitation of a known text with sometimes startling results. For example, here is a sample of text generated from a Markov model of the script for the 1967 movie Planet of the Apes. "PLANET OF THE APES" Screenplay by Michael Wilson Based on Novel By Pierre Boulle DISSOLVE TO: 138 EXT. GROVE OF FRUIT TREES - ESTABLISHING SHOT - DAY Zira run back to the front of Taylor. The President, I believe the prosecutor's charge of this man. ZIRA Well, whoever owned them was in pretty bad shape. He picks up two of the strain. You got what you wanted, kid. How does it taste? Silence. Taylor and cuffs him. Over this we HEAR from a distance is a crude horse-drawn wagon is silhouetted-against the trunks and branches of great trees and bushes on the horse's rump. Taylor lifts his right arm to ward off the blow, and the room and lands at the feet of Cornelius and Lucius are sorting out equipment falls to his knees, buries his head silently at the Ranch). DISSOLVE TO: 197 INT. CAGES - CLOSE SHOT - FEATURING LANDON - FROM TAYLOR'S VOICE (o.s.) I've got a fine veternary surgeons under my direction? ZIRA Taylor! ZIRA There is a small lake, looking like a politician. TAYLOR Dodge takes a pen and notebook from the half-open door of a guard room. Taylor bursts suddenly confronted by his 1https://en.wikipedia.org/wiki/Infinite_monkey_theorem2https://web.archive.org/web/20130120215600/http://www.vivaria.net/experiments/notes/publication/NOTES_ EN.pdf3http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6773024 1 original pursuer (the dismounted cop coming up with a cigar butt and places it in the drawer beside them. TAYLOR What's the best there is a. loud RAP at the doll was found beside the building. Zira waits at the third table. TAYLOR Good question. Is he a man? CORNELIUS (impatiently. DODGE Blessed are the vegetation. These SHOTS are INTERCUT with: 94 WHAT THE ASTRONAUTS They examine the remnants of the cage. ZIRA (plunging on) Their speech organs are adequate. The flaw lies not in anatomy but in the back of his left sleeve. TAYLOR (taking off his shirt. 80 DODGE AND LANDON You don't sound happy in your work. GALEN (defensively) Gorilla hunter stands over a dead man, one fo Besides a few spelling errors and some rather odd things that make you wonder about the author, this passage is surprisingly human-like. This is a simple example of natural language generation, a sub-area of natural language processing—a very active area of research in computer science. The particular approach we’re using in this assignment was famously implemented as the fictitious Mark V. Shaney4 and the Emacs command Disassociated Press5. Approach So, here’s the basic idea: Imagine taking a book (say, Tom Sawyer) and determining the probability with which each character occurs. You would probably find that spaces are the most common, that the character ‘e’ is fairly common, and that the character ‘q’ is rather uncommon. After completing this “level 0” analysis, you would be able to produce random Tom Sawyer text based on character probabilities. It wouldn’t have much in common with the real thing, but at least the characters would tend to occur in the proper propor- tion. In fact, here’s an example of what you might produce: Level 0 rla bsht eS ststofo hhfosdsdewno oe wee h .mr ae irii ela iad o r te u t mnyto onmalysnce, ifu en c fDwn oee iteo Now imagine doing a slightly more sophisticated level 1 analysis by determining the probability with which each character follows every other character. You would probably discover that ‘h’ follows ‘t’ more frequently than ‘x’ does, and you would probably discover that a space follows ‘.’ more frequently than ‘,’ does. You could now produce some randomly generated Tom Sawyer text by picking a character to begin with and then always choosing the next character based on the previous one and the probabilities revealed by the analysis. Here’s an example: Level 1 "Shand tucthiney m?" le ollds mind Theybooure He, he s whit Pereg lenigabo Jodind alllld ashanthe ainofevids tre lin-p asto oun theanthadomoere Now imagine doing a level k analysis by determining the probability with which each character follows every possible sequence of characters of length k (kgrams). A level 5 analysis of Tom Sawyer for example, would reveal that ‘r’ follows “Sawye” more frequently than any other character. After a level k analysis, you would be able to produce random Tom Sawyer by always choosing the next character based on the previous k characters (a kgram) and the probabilities revealed by the analysis. 4https://en.wikipedia.org/wiki/Mark_V._Shaney5https://en.wikipedia.org/wiki/Dissociated_press Page 2 of 5 At only a moderate level of analysis (say, levels 5-7), the randomly generated text begins to take on many of the characteristics of the source text. It probably won’t make complete sense, but you’ll be able to tell that it was derived from Tom Sawyer as opposed to, say, The Sound and the Fury. Here are some more examples of text that is generated from increasing levels of analysis of Tom Sawyer. (These “levels of analysis” are called order K Markov models.) K = 2 "Yess been." for gothin, Tome oso; ing, in to weliss of an’te cle - armit. Papper a comeasione, and smomenty, fropeck hinticer, sid, a was Tom, be suck tied. He sis tred a youck to themen K = 4 en themself, Mr. Welshman, but him awoke, the balmy shore. I’ll give him that he couple overy because in the slated snufflindeed structure’s kind was rath. She said that the wound the door a fever eyes that WITH him. K = 6 people had eaten, leaving. Come - didn’t stand it better judgment; His hands and bury it again, tramped herself! She’d never would be. He found her spite of anything the one was a prime feature sunset, and hit upon that of the forever. K = 8 look-a-here - I told you before, Joe. I’ve heard a pin drop. The stillness was complete, how- ever, this is awful crime, beyond the village was sufficient. He would be a good enough to get that night, Tom and Becky. K = 10 you understanding that they don’t come around in the cave should get the word "beauteous" was over-fondled, and that together" and decided that he might as we used to do - it’s nobby fun. I’ll learn you." To create an order K Markov model of a given source text, you would need to identify all kgrams in the source text and associate with each kgram all the individual characters that follow it. This association or mapping must also capture the frequency with which a given character follows a given kgram. For example, suppose that k = 2 and the sample text is: agggcagcgggcg The Markov model would have to represent all the character strings of length two (2-grams) in the source text, and associate with them the characters that follow them, and in the correct proportion. The following table shows one way of representing this information. kgram Characters that follow ag gc gg gcgc gc agg ca g cg g Once you have created an order K Markov model of a given source text, you can generate new text based on this model as follows. Page 3 of 5 1. Randomly pick k consecutive characters that appear in the sample text and use them as the initial kgram. 2. Append the kgram to the output text being generated. 3. Repeat the following steps until the output text is sufficiently long. (a) Select a character c that appears in the sample text based on the probability of that character following the current kgram. (b) Append this character to the output text. (c) Update the kgram by removing its first character and adding the character just chosen (c) as its last character. If this process encounters a situation in which there are no characters to choose from (which can happen if the only occurrence of the current kgram is at the exact end of the source), simply pick a new kgram at random and continue. As an example, suppose that k = 2 and the sample text is that from above: agggcagcgggcg Here are four different output text strings of length 10 that could have been the result of the process described above, using the first two characters (’ag’) as the initial kgram. agcggcagcg aggcaggcgg agggcaggcg agcggcggca For another example, suppose that k = 2 and the sample text is: the three pirates charted that course the other day Here is how the first three characters of new text might be generated: •A two-character sequence is chosen at random to become the initial kgram. Let’s suppose that “th” is chosen. So, kgram = th and output = th. •The first character must be chosen based on the probability that it follows the kgram (currently “th”) in the source. The source contains five occurrences of “th”. Three times it is followed by ’e’, once it is followed by ’r’, and once it is followed by ’a’. Thus, the next character must be chosen so that there is a 3/5 chance that an ’e’ will be chosen, a 1/5 chance that an ’r’ will be chosen, and a 1/5 chance that an ’a’ will be chosen. Let’s suppose that we choose an ’e’ this time. So, kgram = he and output = the. •The next character must be chosen based on the probability that it follows the kgram (currently “he”) in the source. The source contains three occurrences of “he”. Twice it is followed by a space and once it is followed by ’r’. Thus, the next character must be chosen so that there is a 2/3 chance that a space will be chosen and a 1/3 chance that an ’r’ will be chosen. Let’s suppose that we choose an ’r’ this time. So, kgram = er and output = ther. •The next character must be chosen based on the probability that it follows the kgram (currently “er”) in the source. The source contains only one occurrence of “er”, and it is followed by a space. Thus, the next character must be a space. So, kgram = r_ and output = ther_, where ’_’ represents a blank space. Page 4 of 5 Implementation Details You are provided with two Java files that you must use to develop your solution: MarkovModel.java and TextGenerator.java. The constructors of MarkovModel build the order-k model of the source text. You are required to represent the model with the provided HashMap field. The main method of TextGenerator must process the following three command line arguments (in the args array): •A non-negative integer k •A non-negative integer length. •The name of an input file source that contains more than k characters. Your program must validate the command line arguments by making sure that k and length are non- negative and that source contains at least k characters and can be opened for reading. If any of the command line arguments are invalid, your program must write an informative error message to System.out and terminate. If there are not enough command line arguments, your program must write an informative error message to System.out and terminate. With valid command line arguments, your program must use the methods of the MarkovModel class to create an order k Markov model of the sample text, select the initial kgram, and make each character selection. You must implement the MarkovModel methods according to description of the Markov modeling process in the section above. A few sample texts have been provided, but Project Gutenberg (http://www.gutenberg.org) maintains a large collection of public domain literary works that you can use as source texts for fun and practice. Acknowledgments This assignment is based on the ideas of many people, Jon Bentley and Owen Astrachan in particular.
