Initial Commit

2026-06-09 00:38:01 -06:00 · 2019-01-18 19:10:26 -07:00
parent 90df7612a9
commit 9aa2240621
4 changed files with 127 additions and 0 deletions
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="lib" path="C:/Users/Keenan Buckley/eclipse-workspace/robopipe/lib/ntcore-java-4.0.0.jar"/>
+	<classpathentry kind="lib" path="C:/Users/Keenan Buckley/eclipse-workspace/robopipe/lib/ntcore-jni-4.0.0-all.jar"/>
+	<classpathentry kind="lib" path="C:/Users/Keenan Buckley/eclipse-workspace/robopipe/lib/wpiutil-java-3.0.0.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>robopipe</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>
@@ -0,0 +1,11 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.compliance=1.8
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.source=1.8
@@ -0,0 +1,90 @@
+/**
+ * For more information on using java sockets:
+ * https://docs.oracle.com/javase/tutorial/networking/sockets/clientServer.html
+ */
+package robopipe;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.math.BigDecimal;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.nio.charset.StandardCharsets;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+public class App {
+	
+	NetworkTableEntry encoderEntry, navXEntry;
+	double encoder = 46.83583538, navX = 3.37583994;
+	ServerSocket serverSocket;
+	int portNumber = 4388;
+    Socket clientSocket;
+    OutputStream os;
+    InputStream in;
+    String output;
+	
+	public static void main( String[] args )
+	{
+		System.out.println("Robopipe Start");
+        new App().run();
+    }
+
+    public void run() {
+    	
+    	try {
+    		NetworkTableInstance inst = NetworkTableInstance.getDefault();
+            NetworkTable table = inst.getTable("/SmartDashboard");
+            encoderEntry = table.getEntry("averageEncoder"); //Replace x with name of avg encoder value
+            navXEntry = table.getEntry("navX"); //Replace x with name of NavX rotation
+            inst.startClientTeam(4388);
+            inst.startDSClient();
+        	
+    		System.out.println("Waiting for Unity client connection...");
+            serverSocket = new ServerSocket(portNumber);
+    	    clientSocket = serverSocket.accept();
+    	    os = clientSocket.getOutputStream();
+    	    in = clientSocket.getInputStream();
+    	    
+    	    System.out.println("Connected");
+    	    
+    	    toUnity();
+    	    System.out.println("Waiting for Response...");
+            while (true) {
+            	if (in.read() != -1) {
+            		System.out.println("Response Received");
+            		toUnity();
+            		System.out.println("Waiting for Response...");
+            	}
+            }
+    	} catch (IOException e) {
+    		e.printStackTrace();
+    	}
+    }
+    
+    private void toUnity() throws IOException {
+    	try {
+            Thread.sleep(1000);
+        } catch (InterruptedException ex) {
+            System.out.println("InterruptedException");
+            return;
+        }
+        encoder = encoderEntry.getDouble(0.0);
+        navX = navXEntry.getDouble(0.0);
+        System.out.println("Encoder Value: " + encoder + " Rotation: " + navX);
+    	
+    	output = round(encoder, 3) + "|" + round(navX, 3);
+    	byte[] byteOutput = output.getBytes(StandardCharsets.UTF_8);
+    	System.out.println("Sending '" + output + "' of length " + byteOutput.length + " to Unity...");
+    	os.write(byteOutput);
+    }
+    
+    public static BigDecimal round(double d, int decimalPlace) {
+        BigDecimal bd = new BigDecimal(Double.toString(d));
+        bd = bd.setScale(decimalPlace, BigDecimal.ROUND_HALF_UP);       
+        return bd;
+    }
+}