OpMode Data Transfer System

TeamCode/src/main/kotlin/pioneer/Constants.kt

@@ -201,7 +201,7 @@ object Constants {
     }
 
     object TransferData {
-        var allianceColor = AllianceColor.NEUTRAL
+        var allianceColor = AllianceColor.NONE
         var turretPositionTicks = 0
         var spindexerPositionTicks = 0
     }

TeamCode/src/main/kotlin/pioneer/decode/GoalTag.kt

@@ -85,7 +85,7 @@ object GoalTagProcessor {
                     ?.let { GoalTag.RED }
             }
 
-            AllianceColor.NEUTRAL -> {
+            AllianceColor.NONE -> {
                 null
             }
         }

TeamCode/src/main/kotlin/pioneer/decode/Obelisk.kt

@@ -23,7 +23,7 @@ object Obelisk {
             when (alliance) {
                 AllianceColor.BLUE -> validTags.maxByOrNull { it.ftcPose.x }?.id
                 AllianceColor.RED -> validTags.minByOrNull { it.ftcPose.x }?.id
-                AllianceColor.NEUTRAL -> null
+                AllianceColor.NONE -> null
             }
         return motifTagId?.let { Motif(it) }
     }

TeamCode/src/main/kotlin/pioneer/decode/Points.kt

@@ -32,7 +32,7 @@ class Points(
         when (c) {
             AllianceColor.RED -> this
             AllianceColor.BLUE -> Pose(-this.x, this.y, -this.theta)
-            AllianceColor.NEUTRAL -> this
+            AllianceColor.NONE -> this
         }
 
     // Key positions on the field

TeamCode/src/main/kotlin/pioneer/general/AllianceColor.kt

@@ -3,5 +3,5 @@ package pioneer.general
 enum class AllianceColor {
     RED,
     BLUE,
-    NEUTRAL,
+    NONE,
 }

TeamCode/src/main/kotlin/pioneer/general/Period.kt

@@ -0,0 +1,7 @@
+package pioneer.general
+
+enum class Period {
+    AUTO,
+    TELEOP,
+    NONE,
+}

TeamCode/src/main/kotlin/pioneer/helpers/OpModeDataTransfer.kt

@@ -0,0 +1,36 @@
+package pioneer.helpers
+
+import com.google.gson.Gson
+import org.firstinspires.ftc.robotcore.internal.system.AppUtil
+import java.io.File
+import pioneer.Bot
+
+
+object OpModeDataTransfer {
+    data class OMDT(
+        val bot: Bot? = null,
+        var timestamp: Long = System.currentTimeMillis(),
+        val data: MutableMap<String, Any?> = mutableMapOf()
+    )
+
+    private val gson = Gson()
+    private val file: File by lazy {
+        AppUtil.getInstance().getSettingsFile("omdt.json").apply {
+            parentFile?.mkdirs()
+        }
+    }
+
+    fun save(value: OMDT) {
+        file.writeText(gson.toJson(value))
+    }
+
+    fun loadOrNull(): OMDT? = try {
+        if (file.exists()) gson.fromJson(file.readText(), OMDT::class.java)
+        else null
+    } catch (e: Exception) {
+        null
+    }
+
+    // Deletes the OMDT file. Safe to call even if the file doesn't exist.
+    fun clear() = file.delete()
+}

TeamCode/src/main/kotlin/pioneer/opmodes/BaseOpMode.kt

@@ -1,25 +1,32 @@
 package pioneer.opmodes
 
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket
+import com.acmerobotics.dashboard.FtcDashboard
 import com.qualcomm.robotcore.eventloop.opmode.OpMode
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp
 import pioneer.Bot
 import pioneer.hardware.MecanumBase
+import pioneer.localization.localizers.Pinpoint
 import pioneer.helpers.Chrono
 import pioneer.helpers.FileLogger
-import pioneer.localization.localizers.Pinpoint
+import pioneer.general.Period
+import pioneer.general.AllianceColor
+import pioneer.helpers.OpModeDataTransfer
 
 // Base OpMode class to be extended by all user-defined OpModes
-abstract class BaseOpMode : OpMode() {
-    // Bot instance to be defined in subclasses
+abstract class BaseOpMode(
+    private val period: Period = Period.NONE,
+    private val allianceColor: AllianceColor = AllianceColor.NONE
+) : OpMode() {
+    // Bot instance
     protected lateinit var bot: Bot
-
+    
     // Telemetry packet for dashboard
     protected var telemetryPacket = TelemetryPacket()
 
     // Dashboard instance
     private val dashboard =
-        com.acmerobotics.dashboard.FtcDashboard
-            .getInstance()
+        FtcDashboard.getInstance()
 
     // Tracker and getter for dt
     protected val chrono = Chrono()
@@ -30,11 +37,29 @@ abstract class BaseOpMode : OpMode() {
         get() = getRuntime()
 
     final override fun init() {
-        onInit() // Call user-defined init method
-        bot.initAll() // Initialize bot hardware
+        // Auto-load bot in TELEOP period
+        if (period == Period.TELEOP) {
+            OpModeDataTransfer.loadOrNull()?.let { omdt ->
+                // Reinitialize bot from saved object
+                omdt.bot?.let { savedBot ->
+                    bot = savedBot
+                    // bot.initAll() // Re-initialize hardware (TODO: needs testing)
+                }
+            }
+        }
+
+        // If bot wasn't loaded from OMDT, call user init
         if (!::bot.isInitialized) {
-            throw IllegalStateException("Bot not initialized. Please set 'bot' in onInit().")
+            onInit() // Call user-defined init method
+            if (!::bot.isInitialized) {
+                throw IllegalStateException("Bot not initialized. Please set 'bot' in onInit().")
+            }
+            bot.initAll() // Initialize bot hardware
+        } else {
+            // Bot was loaded, but still call onInit for any additional setup
+            onInit()
         }
+
         updateTelemetry()
     }
 
@@ -59,6 +84,20 @@ abstract class BaseOpMode : OpMode() {
         bot.mecanumBase?.stop() // Ensure motors are stopped
         FileLogger.flush() // Flush any logged data
         onStop() // Call user-defined stop method
+
+        // Auto-save data in AUTO period, clear in TELEOP
+        when (period) {
+            Period.AUTO -> {
+                val omdt = OpModeDataTransfer.OMDT(
+                    bot = bot,
+                )
+                OpModeDataTransfer.save(omdt)
+            }
+            Period.TELEOP -> {
+                OpModeDataTransfer.clear()
+            }
+            else -> { /* No data transfer for NONE */ }
+        }
     }
 
     private fun updateTelemetry() {

TeamCode/src/main/kotlin/pioneer/opmodes/other/testing/TestAutoDataTransfer.kt

@@ -0,0 +1,43 @@
+package pioneer.opmodes.other.testing
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous
+import pioneer.Bot
+import pioneer.BotType
+import pioneer.general.AllianceColor
+import pioneer.general.Period
+import pioneer.opmodes.BaseOpMode
+
+@Autonomous(name = "Test Auto Data Transfer", group = "Testing")
+class TestAutoDataTransfer : BaseOpMode(
+    period = Period.AUTO, 
+    allianceColor = AllianceColor.RED
+) {
+
+    override fun onInit() {
+        bot = Bot.fromType(BotType.GOBILDA_STARTER_BOT, hardwareMap)
+        telemetry.addLine("Test Auto - Will save bot for teleop")
+        telemetry.addLine("Press START to run")
+        telemetry.update()
+    }
+
+    override fun onLoop() {
+        val currentPose = bot.pinpoint?.pose
+
+        telemetry.addLine("✓ Bot will auto-save on stop!")
+        telemetry.addLine()
+        telemetry.addData("Alliance", "RED")
+        telemetry.addData("Bot Type", bot.type)
+        if (currentPose != null) {
+            telemetry.addData("Current Pose", "x=%.1f, y=%.1f, θ=%.1f°", 
+                currentPose.x, currentPose.y, currentPose.theta)
+        }
+        telemetry.addLine()
+        telemetry.addLine("Stop OpMode to save bot, then run Test Teleop")
+        telemetry.update()
+    }
+
+    override fun onStop() {
+        telemetry.addLine("Auto stopped - Bot saved by BaseOpMode")
+        telemetry.update()
+    }
+}

TeamCode/src/main/kotlin/pioneer/opmodes/other/testing/TestTeleopDataTransfer.kt

@@ -0,0 +1,73 @@
+package pioneer.opmodes.other.testing
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp
+import pioneer.Bot
+import pioneer.BotType
+import pioneer.general.AllianceColor
+import pioneer.general.Period
+import pioneer.helpers.Pose
+import pioneer.opmodes.BaseOpMode
+
+@TeleOp(name = "Test Teleop Data Transfer", group = "Testing")
+class TestTeleopDataTransfer : BaseOpMode(
+    period = Period.TELEOP, 
+    allianceColor = AllianceColor.RED
+) {
+
+    override fun onInit() {
+        // Bot is already loaded by BaseOpMode if it exists from AUTO
+        // Otherwise, we need to create a new one
+        // We can check by looking at bot.type or just always show status
+
+        telemetry.addLine("=== BOT INITIALIZATION ===")
+        telemetry.addLine("Bot loaded - Check if from AUTO or new")
+        telemetry.addData("Bot Type", bot.type)
+        bot.pinpoint?.pose?.let { pose ->
+            telemetry.addData("Starting Pose", "x=%.1f, y=%.1f, θ=%.1f°".format(
+                pose.x, pose.y, pose.theta
+            ))
+        }
+        telemetry.addLine()
+        telemetry.addLine("If this is a default pose, bot was created new")
+        telemetry.addLine("If this is your AUTO end pose, bot was loaded!")
+        telemetry.addLine()
+        telemetry.addLine("Use left stick to drive")
+        telemetry.update()
+    }
+
+    override fun onLoop() {
+        // Simple drive controls for testing
+        drive()
+
+        // Display bot status
+        telemetry.addLine("=== BOT STATUS ===")
+        telemetry.addData("Bot Type", bot.type)
+
+        bot.pinpoint?.let { pinpoint ->
+            telemetry.addLine()
+            telemetry.addLine("--- CURRENT STATE ---")
+            telemetry.addData("Current Pose", "x=%.1f, y=%.1f, θ=%.1f°",
+                pinpoint.pose.x, pinpoint.pose.y, pinpoint.pose.theta)
+        }
+
+        telemetry.addLine()
+        telemetry.addLine("Drive: Left stick | Turn: Right stick X")
+        telemetry.update()
+    }
+
+    private fun drive() {
+        val direction = Pose(
+            gamepad1.left_stick_x.toDouble(), 
+            -gamepad1.left_stick_y.toDouble()
+        )
+        bot.mecanumBase?.setDrivePower(
+            Pose(
+                vx = direction.x,
+                vy = direction.y,
+                omega = gamepad1.right_stick_x.toDouble(),
+            ),
+            0.5, // Default power
+            1000.0, // Max velocity
+        )
+    }
+}