Team4388/WPILib-Network-Tables-RoboPipe
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This commit is contained in:
Keenan D. Buckley
2019-02-15 16:47:13 -07:00
parent 55eb8c803d
commit c9c187601b
1 changed files with 34 additions and 8 deletions
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robopipe/src/robopipe/App.java
+34 -8
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@@ -3,9 +3,13 @@
*/
package robopipe;
import java.awt.GraphicsEnvironment;
import java.io.Console;
import java.io.File;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.io.PrintWriter;
import java.math.BigDecimal;
import java.net.ServerSocket;
import java.net.Socket;
@@ -28,18 +32,40 @@ public class App {
double encoder, navX;
NetworkTableEntry encoderEntry, encoderEntryR, encoderEntryL, navXEntry;
ServerSocket serverSocket;
int portNumber = 4388;
static int PORT_NUMBER = 4388;
Socket clientSocket;
OutputStream os;
InputStream in;
static boolean EXIT = false;
public static void main(String[] args) {
System.out.println("Robopipe Start");
while (!EXIT) {
new App().run();
}
EXIT = true;
// Thanks to Frezze98 bolalo on StackOverflow for the code to create a batch file
// to start the program in a command window
Console console = System.console();
if(console == null && !GraphicsEnvironment.isHeadless()) {
String filename = new File(App.class.getProtectionDomain().getCodeSource().getLocation().getPath()).getName();
try {
File batch = new File("Launcher.bat");
if(!batch.exists()){
batch.createNewFile();
PrintWriter writer = new PrintWriter(batch);
writer.println("@echo off");
writer.println("java -jar "+ filename + " " + args[0]);
writer.println("exit");
writer.flush();
}
Runtime.getRuntime().exec("cmd /c start \"\" "+batch.getPath());
} catch(IOException e) {
e.printStackTrace();
}
} else {
PORT_NUMBER = Integer.parseInt(args[0]);
System.out.println("Robopipe Start");
while (!EXIT) {
new App().run();
}
EXIT = true;
}
}
public void run() {
@@ -48,7 +74,7 @@ public class App {
NetworkTable table = inst.getTable("/SmartDashboard");
System.out.println("Connecting to Unity local server...");
//serverSocket = new ServerSocket(portNumber);
clientSocket = new Socket("127.0.0.1", portNumber);
clientSocket = new Socket("127.0.0.1", PORT_NUMBER);
os = clientSocket.getOutputStream();
in = clientSocket.getInputStream();
System.out.println("Connected");
@@ -74,7 +100,7 @@ public class App {
private void toUnity() throws IOException {
output = "";
for (NetworkTableEntry entry : tableEntrys) {
output += round(entry.getDouble(69), 5);
output += round(entry.getDouble(0), 5);
output += "|";
System.out.println("'" + entry.getName() + "'");
}