Quote:
Originally Posted by Tom Line
For instance, any constant (numeric) value that we use on the robot is actually stored in a text file and loaded at code startup.
Likewise, we use a scripting system that reads the commands from text files for autonomous.
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As do we, although we have a custom auton language that compiles into binary and is than stored on the cRIO through NetworkTables.
For OP, heres our FileRead.java
Code:
package org.chimeras1684.year2014.iterative.aaroot;
import com.sun.squawk.microedition.io.FileConnection;
import java.io.DataInputStream;
import java.io.PrintStream;
import java.util.Enumeration;
import java.util.Hashtable;
import java.util.Vector;
import javax.microedition.io.Connector;
/**
* API for the FileRead class
*
* Usage :
* Loading a file to the robot
* 0) FileZilla is recommended because of its ease of auto uploading changes
* 1) Connect to the robot's FTP, 10.16.84.2, using FRC/FRC as the ftp password
* 2) Open the \auton\$target$.txt file
* 3) Make Changes
* 4) Reupload
*
* Adding and deleting values on the file
* * indicates a comment
* leading and trailing whitespace are discarded
* use : to seperate the key from the value
* newlines for every new value
*
* Loading a file in java:
* 1) Construct a new FileRead class, passing the name of the file in the \auton\ folder
* 2) Call the newly constructed file using file.getDouble("yourKey")
* 3) Auton commands can also be passed string arguments that are read from \auton\config.tt
*
*
* TODO :
* Make usage of the BufferedReader class.
* Accept directories other than auton
*
* @author Arhowk
*/
public class FileRead {
final String dir = "auton/";
final static char deviceEscape = 0x0A;
final static String comment = "*";
final static String divChar = ":";
final char space = 20;
final char tab = 9;
PrintStream out;
DataInputStream theFile;
FileConnection fc;
Hashtable dataMap;
/**
* what why is this a public function
* @param s
* @return
*/
/**
* Opens a file and enters it to the database
* @param file url of the file to read
*/
public FileRead(String file){
try{
fc = (FileConnection) Connector.open("file:///"+dir+file, Connector.READ);
theFile = fc.openDataInputStream();
dataMap = new Hashtable();
while(true){
try{
String next = readLine(theFile);
if(next.length() > 0){
dataMap.put(next.substring(0, next.indexOf(divChar)).trim(), next.substring(next.indexOf(divChar) + divChar.length(), next.length()).trim());
}else{
break;
}
}catch(Exception e){
}
}
}catch(Exception e){
// e.printStackTrace();
}
}
private String removeWhitespace(String s){
for(int i = 0; i < s.length(); i++){
if(s.substring(i,i+1).equalsIgnoreCase(""+space) || s.substring(i,i+1).equalsIgnoreCase(""+tab)){
s = s.substring(0,i) + s.substring(i+1,s.length());
}
}
return s;
}
/**
* reads an int out of the file
* @param key what key
* @return return int. default 0
*/
public int getInt(String key){
try {
Enumeration e = dataMap.keys();
while(e.hasMoreElements()){
String t = (String)e.nextElement();
if(t.equals(key)){
return Integer.parseInt(removeWhitespace(((String)dataMap.get(t))));
}
}
} catch (Exception e) {
}
return 0;
}
/**
* reads a double from the file
* @param key read key
* @return double
*/
public double getDouble(String key){
try{
Enumeration e = dataMap.keys();
while(e.hasMoreElements()){
String t = (String)e.nextElement();
if(t.equals(key)){
return Double.parseDouble(removeWhitespace(((String)dataMap.get(t))));
}
}
}catch(Exception e){
}
return 0;
}
/**
* Gets a string from the file
* @param key key
* @return return
*/
public String getString(String key){
try {
Enumeration e = dataMap.keys();
while(e.hasMoreElements()){
String t = (String)e.nextElement();
if(t.equals(key)){
return (String)dataMap.get(t);
}
}
} catch (Exception e) {
}
return null;
}
private String readLine(DataInputStream s){
String ret = "";
boolean isComment = false;
try{
while(true){
char next = (char)s.readByte();
if(next == deviceEscape){
if (ret.length() == 0){
return readLine(s);
}
else{
return ret;
}
}
if(comment.indexOf(next) != -1){
isComment = true;
ret = "";
}
if(!isComment){
ret += next;
}
}
}catch(Exception e){
}
if(!isComment){
return ret;
}else{
return readLine(s);
}
}
}
(currently only folder available is /auton/)
to use this, place a text file that looks like this in /auton/yourPath.txt (ext doesnt matter, i use txt for easy editing)
Code:
constValue : 105.54
* commentedValue : 930
and call it through
Code:
FileRead f = new FileRead("yourPath.txt");
double constValue = f.getDouble("constValue");
Quote:
Originally Posted by NWChen
Often our team makes small changes to code (e.g. adding a command to an autonomous sequence) that aren't otherwise adjustable via RobotPreferences/NetworkTables/SmartDashboard (as far as I know...)
What can we do to reduce the ~2 minutes it takes to recompile our code each time? Is RobotPy (being interpreted) a faster alternative?
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I've never tried python before but I believe the dragons, 1243, used Python this year and loved it. If you're programmers know what they're doing, than I'd recommend trying Python. The only reason our team doesn't use python is because a majority of our programmers aren't experienced enough to use it and we have the auton language system.
Out of curiosity, what language are you using? Compiling and loading java takes about 30 seconds plugged in 1 minute on battery for me ( battery saver settings ).