Added kotlin to dev branch, and made alberts commit kotlin.

.gitignore

@@ -0,0 +1,4 @@
+.gradle
+.idea
+
+PhotonCore/build

PhotonCore/build.gradle

@@ -1,19 +1,20 @@
 plugins {
     id 'com.android.library'
     id 'maven-publish'
+    id 'org.jetbrains.kotlin.android'
 }
 
 repositories {
     mavenCentral()
 }
 
 android {
-    compileSdkVersion 30
+    compileSdkVersion 34
     buildToolsVersion "30.0.3"
 
     defaultConfig {
         minSdkVersion 24
-        targetSdkVersion 30
+        targetSdkVersion 34
         versionCode 1
         versionName "1.0"
 
@@ -44,12 +45,13 @@ afterEvaluate {
 }
 
 dependencies {
+    implementation 'androidx.core:core-ktx:1.10.1'
     compileOnly 'org.jetbrains:annotations:15.0'
-    compileOnly "androidx.annotation:annotation:1.4.0"
+    compileOnly "androidx.annotation:annotation:1.6.0"
 
-    compileOnly 'org.firstinspires.ftc:RobotCore:8.1.0'
-    compileOnly 'org.firstinspires.ftc:Hardware:8.1.0'
-    compileOnly 'org.firstinspires.ftc:FtcCommon:8.1.0'
+    compileOnly 'org.firstinspires.ftc:RobotCore:8.1.1'
+    compileOnly 'org.firstinspires.ftc:Hardware:8.1.1'
+    compileOnly 'org.firstinspires.ftc:FtcCommon:8.1.1'
     compileOnly 'org.reflections:reflections:0.10.2'
     compileOnly 'commons-beanutils:commons-beanutils:1.9.4'
 

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/HAL.kt

@@ -0,0 +1,11 @@
+package com.outoftheboxrobotics.photoncore.HAL
+
+import com.qualcomm.hardware.lynx.LynxModule
+import com.qualcomm.hardware.lynx.commands.LynxRespondable
+import com.qualcomm.hardware.lynx.commands.core.LynxGetBulkInputDataResponse
+
+interface HAL {
+    fun write(respondable: LynxRespondable<*>?)
+    val lynxModule: LynxModule?
+    val bulkData: LynxGetBulkInputDataResponse?
+}

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/Commands/PhotonLynxI2cReadMultipleBytesCommand.kt

@@ -0,0 +1,38 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C.Commands
+
+import com.outoftheboxrobotics.photoncore.HAL.PhotonCommandBase
+import com.qualcomm.hardware.lynx.LynxModuleIntf
+import com.qualcomm.hardware.lynx.commands.LynxMessage
+import com.qualcomm.hardware.lynx.commands.core.LynxI2cReadMultipleBytesCommand
+import com.qualcomm.hardware.lynx.commands.standard.LynxAck
+import com.qualcomm.hardware.lynx.commands.standard.LynxNack
+import com.qualcomm.robotcore.hardware.I2cAddr
+import java.util.concurrent.CompletableFuture
+
+class PhotonLynxI2cReadMultipleBytesCommand : LynxI2cReadMultipleBytesCommand, PhotonCommandBase {
+    private val future: CompletableFuture<LynxMessage> = CompletableFuture();
+
+    constructor(module: LynxModuleIntf): super(module)
+    constructor(module: LynxModuleIntf, busZ: Int, i2cAddr: I2cAddr, cbToRead: Int) : super(module, busZ, i2cAddr, cbToRead)
+
+    override fun onResponseReceived(response: LynxMessage) {
+        super.onResponseReceived(response)
+        future.complete(response)
+    }
+
+    override fun onAckReceived(ack: LynxAck) {
+        super.onAckReceived(ack)
+        future.complete(ack)
+    }
+
+    override fun onNackReceived(nack: LynxNack) {
+        super.onNackReceived(nack)
+        future.complete(nack)
+    }
+
+    override fun getResponse(): CompletableFuture<LynxMessage> {
+        return future
+    }
+
+
+}

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/Commands/PhotonLynxI2cReadSingleByteCommand.kt

@@ -0,0 +1,37 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C.Commands
+
+import com.outoftheboxrobotics.photoncore.HAL.PhotonCommandBase
+import com.qualcomm.hardware.lynx.LynxModuleIntf
+import com.qualcomm.hardware.lynx.commands.LynxMessage
+import com.qualcomm.hardware.lynx.commands.core.LynxI2cReadSingleByteCommand
+import com.qualcomm.hardware.lynx.commands.standard.LynxAck
+import com.qualcomm.hardware.lynx.commands.standard.LynxNack
+import com.qualcomm.robotcore.hardware.I2cAddr
+import java.util.concurrent.CompletableFuture
+
+class PhotonLynxI2cReadSingleByteCommand : LynxI2cReadSingleByteCommand, PhotonCommandBase {
+    private var future: CompletableFuture<LynxMessage> = CompletableFuture();
+
+    constructor(module: LynxModuleIntf?) : super(module);
+
+    constructor(module: LynxModuleIntf?, busZ: Int, i2cAddr: I2cAddr?) : super(module, busZ, i2cAddr);
+
+    override fun onResponseReceived(response: LynxMessage) {
+        super.onResponseReceived(response)
+        future.complete(response)
+    }
+
+    override fun onAckReceived(ack: LynxAck) {
+        super.onAckReceived(ack)
+        future.complete(ack)
+    }
+
+    override fun onNackReceived(nack: LynxNack) {
+        super.onNackReceived(nack)
+        future.complete(nack)
+    }
+
+    override fun getResponse(): CompletableFuture<LynxMessage> {
+        return future
+    }
+}

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/Commands/PhotonLynxI2cWriteReadMultipleBytesCommand.kt

@@ -0,0 +1,37 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C.Commands
+
+import com.outoftheboxrobotics.photoncore.HAL.PhotonCommandBase
+import com.qualcomm.hardware.lynx.LynxModuleIntf
+import com.qualcomm.hardware.lynx.commands.LynxMessage
+import com.qualcomm.hardware.lynx.commands.core.LynxI2cWriteReadMultipleBytesCommand
+import com.qualcomm.hardware.lynx.commands.standard.LynxAck
+import com.qualcomm.hardware.lynx.commands.standard.LynxNack
+import com.qualcomm.robotcore.hardware.I2cAddr
+import java.util.concurrent.CompletableFuture
+
+class PhotonLynxI2cWriteReadMultipleBytesCommand : LynxI2cWriteReadMultipleBytesCommand, PhotonCommandBase {
+    private val future: CompletableFuture<LynxMessage> = CompletableFuture();
+
+    constructor(module: LynxModuleIntf?) : super(module)
+
+    constructor(module: LynxModuleIntf?, busZ: Int, i2cAddr: I2cAddr?, i2cStartAddr: Int, cbToRead: Int) : super(module, busZ, i2cAddr, i2cStartAddr, cbToRead)
+
+    override fun onResponseReceived(response: LynxMessage) {
+        super.onResponseReceived(response)
+        future.complete(response)
+    }
+
+    override fun onAckReceived(ack: LynxAck) {
+        super.onAckReceived(ack)
+        future.complete(ack)
+    }
+
+    override fun onNackReceived(nack: LynxNack) {
+        super.onNackReceived(nack)
+        future.complete(nack)
+    }
+
+    override fun getResponse(): CompletableFuture<LynxMessage> {
+        return future
+    }
+}

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/Commands/PhotonLynxI2cWriteSingleByteCommand.kt

@@ -0,0 +1,37 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C.Commands
+
+import com.outoftheboxrobotics.photoncore.HAL.PhotonCommandBase
+import com.qualcomm.hardware.lynx.LynxModuleIntf
+import com.qualcomm.hardware.lynx.commands.LynxMessage
+import com.qualcomm.hardware.lynx.commands.core.LynxI2cWriteSingleByteCommand
+import com.qualcomm.hardware.lynx.commands.standard.LynxAck
+import com.qualcomm.hardware.lynx.commands.standard.LynxNack
+import com.qualcomm.robotcore.hardware.I2cAddr
+import java.util.concurrent.CompletableFuture
+
+class PhotonLynxI2cWriteSingleByteCommand : LynxI2cWriteSingleByteCommand, PhotonCommandBase {
+    private val future: CompletableFuture<LynxMessage> = CompletableFuture();
+
+    constructor(module: LynxModuleIntf?) : super(module)
+
+    constructor(module: LynxModuleIntf?, busZ: Int, i2cAddr: I2cAddr?, bValue: Int) : super(module, busZ, i2cAddr, bValue)
+
+    override fun onResponseReceived(response: LynxMessage) {
+        super.onResponseReceived(response)
+        future.complete(response)
+    }
+
+    override fun onAckReceived(ack: LynxAck) {
+        super.onAckReceived(ack)
+        future.complete(ack)
+    }
+
+    override fun onNackReceived(nack: LynxNack) {
+        super.onNackReceived(nack)
+        future.complete(nack)
+    }
+
+    override fun getResponse(): CompletableFuture<LynxMessage> {
+        return future
+    }
+}

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/Commands/PhotonLynxI2cWriteStatusQueryCommand.kt

@@ -0,0 +1,35 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C.Commands
+
+import com.outoftheboxrobotics.photoncore.HAL.PhotonCommandBase
+import com.qualcomm.hardware.lynx.LynxModuleIntf
+import com.qualcomm.hardware.lynx.commands.LynxMessage
+import com.qualcomm.hardware.lynx.commands.core.LynxI2cWriteStatusQueryCommand
+import com.qualcomm.hardware.lynx.commands.standard.LynxAck
+import com.qualcomm.hardware.lynx.commands.standard.LynxNack
+import java.util.concurrent.CompletableFuture
+
+class PhotonLynxI2cWriteStatusQueryCommand : LynxI2cWriteStatusQueryCommand, PhotonCommandBase {
+    private val future: CompletableFuture<LynxMessage> = CompletableFuture();
+
+    constructor(module: LynxModuleIntf?) : super(module)
+    constructor(module: LynxModuleIntf?, busZ: Int) : super(module, busZ)
+
+    override fun onResponseReceived(response: LynxMessage) {
+        super.onResponseReceived(response)
+        future.complete(response)
+    }
+
+    override fun onAckReceived(ack: LynxAck) {
+        super.onAckReceived(ack)
+        future.complete(ack)
+    }
+
+    override fun onNackReceived(nack: LynxNack) {
+        super.onNackReceived(nack)
+        future.complete(nack)
+    }
+
+    override fun getResponse(): CompletableFuture<LynxMessage> {
+        return future
+    }
+}

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/PhotonBHI260IMU.kt

@@ -0,0 +1,7 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C
+
+import com.qualcomm.hardware.bosch.BHI260IMU
+import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple
+
+
+class PhotonBHI260IMU(i2cDeviceSynchSimple: I2cDeviceSynchSimple?, deviceClientIsOwned: Boolean) : BHI260IMU(i2cDeviceSynchSimple, deviceClientIsOwned)

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/PhotonBNO055IMU.kt

@@ -0,0 +1,6 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C
+
+import com.qualcomm.hardware.lynx.LynxEmbeddedIMU
+import com.qualcomm.robotcore.hardware.I2cDeviceSynch
+
+class PhotonBNO055IMU(deviceClient: I2cDeviceSynch?, deviceClientIsOwned: Boolean) : LynxEmbeddedIMU(deviceClient, deviceClientIsOwned)

PhotonCore/src/main/java/com/outoftheboxrobotics/photoncore/HAL/I2C/PhotonBNO055IMUNew.kt

@@ -0,0 +1,6 @@
+package com.outoftheboxrobotics.photoncore.HAL.I2C
+
+import com.qualcomm.hardware.lynx.LynxEmbeddedBNO055IMUNew
+import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple
+
+class PhotonBNO055IMUNew(deviceClient: I2cDeviceSynchSimple?, deviceClientIsOwned: Boolean) : LynxEmbeddedBNO055IMUNew(deviceClient, deviceClientIsOwned)