mirror of
https://github.com/Team4388/WPILib-Network-Tables-RoboPipe.git
synced 2026-06-08 16:28:01 -06:00
Finished RoboPipe
This commit is contained in:
Keenan D. Buckley
@@ -1,6 +1,5 @@
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/**
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* For more information on using java sockets:
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* https://docs.oracle.com/javase/tutorial/networking/sockets/clientServer.html
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*
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*/
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package robopipe;
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@@ -15,104 +14,104 @@ import java.math.BigDecimal;
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import java.net.ServerSocket;
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import java.net.Socket;
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import java.nio.charset.StandardCharsets;
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import java.util.ArrayList;
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import java.util.List;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableEntry;
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import edu.wpi.first.networktables.NetworkTableInstance;
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public class App {
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///TODO: Always remember to set to false before building
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static boolean isEclipse = true;
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NetworkTableEntry encoderEntry, navXEntry;
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double encoder = 46.83583538, navX = 3.37583994;
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/// TODO: Always remember to set to false before building
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static boolean isEclipse = false;
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String[] robotValues;
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List<NetworkTableEntry> tableEntrys = new ArrayList<NetworkTableEntry>();
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String output;
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double encoder, navX;
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NetworkTableEntry encoderEntry, encoderEntryR, encoderEntryL, navXEntry;
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ServerSocket serverSocket;
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int portNumber = 4388;
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Socket clientSocket;
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OutputStream os;
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InputStream in;
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String output;
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public static void main( String[] args )
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{
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// Thanks to Frezze98 bolalo on StackOverflow for the code to create a batch file
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// to start the program in a command window
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Console console = System.console();
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if(console == null && !GraphicsEnvironment.isHeadless() && !isEclipse) {
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String filename = new File(App.class.getProtectionDomain().getCodeSource().getLocation().getPath()).getName();
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try {
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File batch = new File("Launcher.bat");
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if(!batch.exists()){
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batch.createNewFile();
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PrintWriter writer = new PrintWriter(batch);
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writer.println("@echo off");
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writer.println("java -jar "+filename);
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writer.println("exit");
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writer.flush();
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}
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Runtime.getRuntime().exec("cmd /c start \"\" "+batch.getPath());
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} catch(IOException e) {
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e.printStackTrace();
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}
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} else {
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System.out.println("Robopipe Start");
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new App().run();
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}
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}
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Socket clientSocket;
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OutputStream os;
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InputStream in;
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public void run() {
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try {
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NetworkTableInstance inst = NetworkTableInstance.getDefault();
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NetworkTable table = inst.getTable("/SmartDashboard");
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encoderEntry = table.getEntry("averageEncoder"); //Replace x with name of avg encoder value
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navXEntry = table.getEntry("navX"); //Replace x with name of NavX rotation
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inst.startClientTeam(4388);
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inst.startDSClient();
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System.out.println("Waiting for Unity client connection...");
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serverSocket = new ServerSocket(portNumber);
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clientSocket = serverSocket.accept();
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os = clientSocket.getOutputStream();
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in = clientSocket.getInputStream();
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System.out.println("Connected");
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toUnity();
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System.out.println("Waiting for Response...");
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while (true) {
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if (in.read() != -1) {
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System.out.println("Response Received");
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toUnity();
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System.out.println("Waiting for Response...");
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}
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}
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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private void toUnity() throws IOException {
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try {
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Thread.sleep(1000);
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} catch (InterruptedException ex) {
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System.out.println("InterruptedException");
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return;
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}
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encoder = encoderEntry.getDouble(0.0);
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navX = navXEntry.getDouble(0.0);
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System.out.println("Encoder Value: " + encoder + " Rotation: " + navX);
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output = round(encoder, 3) + "|" + round(navX, 3);
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byte[] byteOutput = output.getBytes(StandardCharsets.UTF_8);
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System.out.println("Sending '" + output + "' of length " + byteOutput.length + " to Unity...");
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os.write(byteOutput);
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}
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public static BigDecimal round(double d, int decimalPlace) {
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BigDecimal bd = new BigDecimal(Double.toString(d));
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bd = bd.setScale(decimalPlace, BigDecimal.ROUND_HALF_UP);
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return bd;
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}
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public static void main(String[] args) {
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// Thanks to Frezze98 bolalo on StackOverflow for the code to create a batch
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// file to start the program in a command window
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Console console = System.console();
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if (console == null && !GraphicsEnvironment.isHeadless() && !isEclipse) {
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String filename = new File(App.class.getProtectionDomain().getCodeSource()
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.getLocation().getPath()).getName();
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try {
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File batch = new File("Launcher.bat");
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if (!batch.exists()) {
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batch.createNewFile();
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PrintWriter writer = new PrintWriter(batch);
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writer.println("@echo off");
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writer.println("java -jar " + filename);
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writer.println("exit");
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writer.flush();
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}
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Runtime.getRuntime().exec("cmd /c start \"\" " + batch.getPath());
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} catch (IOException e) {
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e.printStackTrace();
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}
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} else {
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System.out.println("Robopipe Start");
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new App().run();
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}
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}
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public void run() {
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try {
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NetworkTableInstance inst = NetworkTableInstance.getDefault();
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NetworkTable table = inst.getTable("/SmartDashboard");
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System.out.println("Waiting for Unity client connection...");
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serverSocket = new ServerSocket(portNumber);
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clientSocket = serverSocket.accept();
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os = clientSocket.getOutputStream();
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in = clientSocket.getInputStream();
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System.out.println("Connected");
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byte[] byteRequest = new byte[100];
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in.read(byteRequest);
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String request = new String(byteRequest, StandardCharsets.UTF_8);
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robotValues = request.split(",");
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System.out.println("Request Recieved: " + request + robotValues.length);
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for (String value : robotValues) {
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tableEntrys.add(table.getEntry(value.trim()));
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}
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inst.startClientTeam(4388);
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inst.startDSClient();
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while (true) {
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toUnity();
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}
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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private void toUnity() throws IOException {
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output = "";
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for (NetworkTableEntry entry : tableEntrys) {
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output += round(entry.getDouble(69), 5);
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output += "|";
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System.out.println("'" + entry.getName() + "'");
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}
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output = output.substring(0, output.length() - 1);
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byte[] byteOutput = output.getBytes(StandardCharsets.UTF_8);
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System.out.println("Sending '" + output + "' of length: " + byteOutput.length + " to Unity...");
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os.write(byteOutput);
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System.out.println("Waiting for Response...");
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in.read();
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System.out.println("Response Received");
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}
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public static BigDecimal round(double d, int decimalPlace) {
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BigDecimal bd = new BigDecimal(Double.toString(d));
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bd = bd.setScale(decimalPlace, BigDecimal.ROUND_HALF_UP);
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return bd;
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}
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}
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