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| /* | |
| * To change this license header, choose License Headers in Project Properties. | |
| * To change this template file, choose Tools | Templates | |
| * and open the template in the editor. | |
| */ | |
| package org.chimeras1684.year2014.iterative.aaroot; | |
| import org.chimeras1684.year2014.iterative.aaroot.fileio.BufferedReader; | |
| import edu.wpi.first.wpilibj.DriverStationLCD; | |
| import edu.wpi.first.wpilibj.networktables.NetworkTable; | |
| import org.chimeras1684.year2014.iterative.aaroot.fileio.BufferedWriter; | |
| import org.chimeras1684.year2014.iterative.auton.root.AutonFramework.TimedCommandGroup; | |
| /** | |
| * | |
| * @author Arhowk | |
| */ | |
| public class AutonMode { | |
| private static final char IF = '`', ENDIF = '~', ELSE = '!', ELSEIF = '@', PAUSE = '$', ENDPAUSE='%', | |
| WHILE='^', WHILEDUR='&', ACTION='('; | |
| String name; | |
| String ds[]; | |
| String bin; | |
| boolean isHardcoded = false; | |
| int chk; | |
| int fchs; | |
| NetworkTable table; | |
| AutonMode(String name){ | |
| this.name = name; | |
| ds = new String[6]; | |
| table = NetworkTable.getTable("auton/" + name); | |
| forceUpdate(); | |
| } | |
| private AutonMode(){ds = new String[4];}; | |
| public static AutonMode loadStatic(TimedCommandGroup tcg, String [] desc){ | |
| AutonMode x = new AutonMode(); | |
| x.ds[0] = desc[0]; | |
| x.ds[1] = desc[1]; | |
| x.ds[2] = desc[2]; | |
| x.ds[3] = desc[3]; | |
| x.isHardcoded = true; | |
| x.group = tcg; | |
| return x; | |
| } | |
| public static AutonMode loadFromFile(String autonName){ | |
| try{ | |
| System.out.println("File Loading Auton : " + autonName); | |
| BufferedReader br = new BufferedReader(autonName+".txt"); | |
| AutonMode mode = new AutonMode(); | |
| mode.table = NetworkTable.getTable("auton/"+autonName); | |
| mode.ds[0] = br.readLine(); | |
| mode.ds[1] = br.readLine(); | |
| mode.ds[2] = br.readLine(); | |
| mode.ds[3] = br.readLine(); | |
| mode.bin = br.readLine(); | |
| mode.group = new DashboardAutonGroup(mode.bin); | |
| br.close(); | |
| return mode; | |
| }catch(Exception e){ | |
| e.printStackTrace(); | |
| } | |
| return null; | |
| } | |
| public void update(){ | |
| if(isHardcoded) return; | |
| if(table.getNumber("CHK") != chk){ | |
| if(table.getNumber("FCHS") != fchs){ | |
| // System.out.println("save"); | |
| forceUpdate(); | |
| forceSave(); | |
| }else{ | |
| // System.out.println("nah. just update bro"); | |
| forceUpdate(); | |
| } | |
| } | |
| } | |
| public final void forceSave(){ | |
| if(isHardcoded) return; | |
| BufferedWriter bw = new BufferedWriter(name+".txt"); | |
| bw.pushLine(ds[0]); | |
| bw.pushLine(ds[1]); | |
| bw.pushLine(ds[2]); | |
| bw.pushLine(ds[3]); | |
| bw.pushLine(bin); | |
| bw.close(); | |
| fchs = (int)table.getNumber("FCHS", 0); | |
| } | |
| public void updateDS(){ | |
| DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser1, 1, ds[0]); | |
| DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser2, 1, ds[1]); | |
| DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser3, 1, ds[2]); | |
| DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser4, 1, ds[3]); | |
| DriverStationLCD.getInstance().updateLCD(); | |
| } | |
| static final String spaces = " "; | |
| public final void forceUpdate(){ | |
| if(isHardcoded) return; | |
| ds[0] = table.getString("DS1", "") + spaces; | |
| ds[1] = table.getString("DS2", "") + spaces; | |
| ds[2] = table.getString("DS3", "") + spaces; | |
| ds[3] = table.getString("DS4", "") + spaces; | |
| chk = (int)table.getNumber("CHK", 0); | |
| bin = table.getString("BIN", ""); | |
| group = new DashboardAutonGroup(bin); | |
| } | |
| private static class DashboardAutonGroup extends TimedCommandGroup{ | |
| private String skip(String s, int c){ | |
| while(c --> 0){ | |
| int id = s.indexOf(":"); | |
| if(id == -1){ | |
| return ""; | |
| }else{ | |
| s = s.substring(id+1,s.length()); | |
| } | |
| } | |
| return s; | |
| } | |
| public DashboardAutonGroup(String bin){ | |
| boolean b2 = false; | |
| try{ | |
| whileLoop: while(bin.length() > 0){ | |
| //bin = bin.substring(0, bin.indexOf(":") == -1 ? bin.indexOf(":") : bin.length()); | |
| String strproc = bin.substring(0, bin.indexOf(":") != -1 ? bin.indexOf(":") : bin.length()); | |
| char proc = bin.charAt(0); | |
| boolean b = false; | |
| if(bin.charAt(0) == '+'){ | |
| b = true; | |
| proc = bin.charAt(1); | |
| } | |
| switch(proc){ | |
| case IF: | |
| if(b){ | |
| addIf(Integer.parseInt(strproc.substring(2,strproc.length()))); | |
| bin = skip(bin,2); | |
| }else{ | |
| addIf(Integer.parseInt(strproc.substring(1,strproc.length()))); | |
| bin = skip(bin,1); | |
| } | |
| break; | |
| case ELSEIF: | |
| if(b){ | |
| addElseIf(Integer.parseInt(strproc.substring(2,strproc.length()))); | |
| bin = skip(bin,2); | |
| }else{ | |
| addElseIf(Integer.parseInt(strproc.substring(1,strproc.length()))); | |
| bin = skip(bin,1); | |
| } | |
| break; | |
| case ELSE: | |
| addElse(); | |
| bin = skip(bin,1); | |
| break; | |
| case ACTION: | |
| int actionRequest = Integer.parseInt(strproc.substring(b ? 2 : 1,strproc.length())); | |
| strproc = skip(bin,1); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| double start = Double.parseDouble(strproc); | |
| strproc = skip(bin,2); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| double timeout = Double.parseDouble(strproc); | |
| if(b){ | |
| strproc = skip(bin,3); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| double arg = Double.parseDouble(strproc); | |
| add(actionRequest,arg,start,timeout); | |
| bin = skip(bin, 4); | |
| }else{ | |
| add(actionRequest,start,timeout); | |
| bin = skip(bin, 3); | |
| } | |
| break; | |
| case ENDIF: | |
| bin = skip(bin, 1); | |
| addEndIf(); | |
| break; | |
| case ENDPAUSE: | |
| bin = skip(bin, 1); | |
| addEndPause(); | |
| break; | |
| case PAUSE: | |
| bin = skip(bin, 1); | |
| addPause(); | |
| break; | |
| case WHILE: | |
| int req = Integer.parseInt(strproc.substring(b ? 2 : 1,strproc.length())); | |
| strproc = skip(bin,1); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| start = Double.parseDouble(strproc); | |
| if(b){ | |
| strproc = skip(bin,2); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| double arg = Double.parseDouble(strproc); | |
| addWhile(req, arg, start); | |
| bin = skip(bin, 3); | |
| }else{ | |
| bin = skip(bin, 2); | |
| addWhile(req,start); | |
| } | |
| break; | |
| case WHILEDUR: | |
| req = Integer.parseInt(strproc.substring(b?2:1,strproc.length())); | |
| strproc = skip(bin,1); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| start = Double.parseDouble(strproc); | |
| double arg = -3402434; | |
| int i = 2; | |
| if(b){ | |
| strproc = skip(bin,2); | |
| i++; | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| arg = Double.parseDouble(strproc); | |
| } | |
| strproc = skip(bin,i); | |
| strproc = strproc.substring(0, strproc.indexOf(":") != -1 ? strproc.indexOf(":") : strproc.length()); | |
| double dur = Double.parseDouble(strproc); | |
| if(arg == -3402434){ | |
| addWhile(req, 0, start, dur); | |
| bin = skip(bin, 3); | |
| }else{ | |
| bin = skip(bin, 4); | |
| addWhile(req,arg,start,dur); | |
| } | |
| break; | |
| default: | |
| bin = skip(bin, 1); | |
| } | |
| } | |
| }catch(Exception e){ | |
| e.printStackTrace(); | |
| } | |
| } | |
| } | |
| TimedCommandGroup group; | |
| public TimedCommandGroup toAutonSequence(){ | |
| return group; | |
| } | |
| } |