Testing PathPlanner read/write

src/main/java/frc4388/utility/PathPlannerUtil.java

@@ -0,0 +1,49 @@
+package frc4388.utility;
+
+import java.io.File;
+import java.util.Optional;
+import com.diffplug.common.base.Errors;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.datatype.jdk8.Jdk8Module;
+
+public class PathPlannerUtil {
+  public static final class Path {
+    public Optional<Waypoint>[] waypoints;
+
+    public static final class Waypoint {
+      public Optional<Point> anchorPoint;
+      public Optional<Point> prevControl;
+      public Optional<Point> nextControl;
+
+      public static final class Point {
+        public Optional<Double> x;
+        public Optional<Double> y;
+      }
+
+      public Optional<Double> holonomicAngle;
+      public Optional<Boolean> isReversal;
+      public Optional<Boolean> velOverride;
+      public Optional<Boolean> isLocked;
+    }
+
+    public Optional<Double> maxVelocity;
+    public Optional<Double> maxAcceleration;
+    public Optional<Boolean> isReversed;
+
+    private static final ObjectMapper objectMapper = new ObjectMapper();
+    static { objectMapper.registerModule(new Jdk8Module()); }
+
+    public static Path read(File src) {
+      return Errors.log().getWithDefault(() -> objectMapper.readValue(src, Path.class), null);
+    }
+
+    public void write(File resultFile) {
+      Errors.log().run(() -> objectMapper.writeValue(resultFile, this));
+    }
+
+    @Override
+    public String toString() {
+      return Errors.log().getWithDefault(() -> objectMapper.writeValueAsString(this), super.toString());
+    }
+  }
+}