Merge pull request #43 from varun7654/move-robot-side-to-main-reop

Move robot side to main reop

.gitignore

@@ -103,4 +103,5 @@ Thumbs.db
 
 /desktop/out/*
 
-sonarlint
+sonarlint
+/autobuilder-robot/build/

autobuilder-robot/build.gradle

@@ -0,0 +1,84 @@
+plugins {
+    // Apply the java-library plugin for API and implementation separation.
+    id 'java-library'
+    id 'maven-publish'
+    id "java"
+    id 'signing'
+}
+
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
+
+group = 'com.dacubeking'
+version = '2.2.8'
+var wpilibVersion = "2023.4.3"
+
+repositories {
+    // Use Maven Central for resolving dependencies.
+    mavenCentral()
+
+    repositories {
+        maven {
+            url "https://frcmaven.wpi.edu/artifactory/release/"
+        }
+    }
+}
+
+dependencies {
+    implementation 'org.jetbrains:annotations:23.0.0'
+
+    // Use JUnit Jupiter for testing.
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.8.2'
+    implementation 'com.google.guava:guava:31.1-jre'
+    implementation 'org.reflections:reflections:0.10.2'
+
+
+    implementation "edu.wpi.first.wpilibj:wpilibj-java:${wpilibVersion}"
+    implementation "edu.wpi.first.wpimath:wpimath-java:${wpilibVersion}"
+    implementation "edu.wpi.first.ntcore:ntcore-java:${wpilibVersion}"
+    implementation "edu.wpi.first.hal:hal-java:${wpilibVersion}"
+    implementation "edu.wpi.first.wpinet:wpinet-java:${wpilibVersion}"
+    implementation "edu.wpi.first.wpiutil:wpiutil-java:${wpilibVersion}"
+//    implementation "edu.wpi.first.cscore:cscore-java:${wpilibVersion}"
+//    implementation "edu.wpi.first.cameraserver:cameraserver-java:${wpilibVersion}"
+
+
+    implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:${wpilibVersion}"
+
+
+    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.3'
+}
+
+tasks.named('test') {
+    // Use JUnit Platform for unit tests.
+    useJUnitPlatform()
+}
+
+java {
+    withSourcesJar()
+    withJavadocJar()
+}
+
+publishing {
+    publications {
+        myLibrary(MavenPublication) {
+            from components.java
+        }
+    }
+
+    publishing {
+        repositories {
+            maven {
+                name = "releases"
+                credentials(PasswordCredentials)
+                url = uri("https://maven.dacubeking.com/releases/")
+            }
+
+            maven {
+                name = "snapshots"
+                credentials(PasswordCredentials)
+                url = uri("https://maven.dacubeking.com/snapshots/")
+            }
+        }
+    }
+}

autobuilder-robot/src/main/java/com/dacubeking/AutoBuilder/robot/GuiAuto.java

@@ -0,0 +1,152 @@
+package com.dacubeking.AutoBuilder.robot;
+
+import com.dacubeking.AutoBuilder.robot.robotinterface.AutonomousContainer;
+import com.dacubeking.AutoBuilder.robot.serialization.AbstractAutonomousStep;
+import com.dacubeking.AutoBuilder.robot.serialization.Autonomous;
+import com.dacubeking.AutoBuilder.robot.serialization.Serializer;
+import com.dacubeking.AutoBuilder.robot.serialization.TrajectoryAutonomousStep;
+import com.dacubeking.AutoBuilder.robot.serialization.command.CommandExecutionFailedException;
+import com.dacubeking.AutoBuilder.robot.serialization.command.SendableScript;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.ExecutionException;
+
+import static com.dacubeking.AutoBuilder.robot.robotinterface.AutonomousContainer.getCommandTranslator;
+
+public class GuiAuto implements Runnable {
+
+    private static final Autonomous DO_NOTHING_AUTONOMOUS = new Autonomous(new ArrayList<>());
+    private @NotNull Autonomous autonomous = DO_NOTHING_AUTONOMOUS; // default to do nothing in case of some error
+    private @Nullable Pose2d initialPose;
+
+    /**
+     * Ensure you are creating the objects for your auto on robot init. The roborio will take multiple seconds to initialize the
+     * auto.
+     *
+     * @param autonomousFile File location of the auto
+     */
+    public GuiAuto(File autonomousFile) throws IOException {
+        autonomous = (Autonomous) Serializer.deserializeFromFile(autonomousFile, Autonomous.class,
+                autonomousFile.getName().endsWith(".json"));
+        init();
+    }
+
+    /**
+     * Ensure you are creating the objects for your auto before you run them. The roborio will take multiple seconds to initialize
+     * the auto.
+     *
+     * @param autonomousJson String of the autonomous
+     */
+    public GuiAuto(String autonomousJson) {
+        try {
+            autonomous = (Autonomous) Serializer.deserialize(autonomousJson, Autonomous.class, true);
+        } catch (IOException e) {
+            DriverStation.reportError("Failed to deserialize auto. " + e.getMessage(), e.getStackTrace());
+            // The do nothing auto will be used
+        }
+        init();
+    }
+
+    /**
+     * Finds and saves the initial pose of the robot.
+     */
+    private void init() {
+        for (AbstractAutonomousStep autonomousStep : autonomous.getAutonomousSteps()) {
+            if (autonomousStep instanceof TrajectoryAutonomousStep) {
+                TrajectoryAutonomousStep trajectoryAutonomousStep = (TrajectoryAutonomousStep) autonomousStep;
+                Trajectory.State initialState = trajectoryAutonomousStep.getTrajectory().getStates().get(0);
+                initialPose = new Pose2d(initialState.poseMeters.getTranslation(),
+                        trajectoryAutonomousStep.getRotations().get(0).getRotation());
+                break;
+            }
+        }
+    }
+
+    /**
+     * Runs the autonomous.
+     */
+    @Override
+    public void run() {
+        AutonomousContainer.getInstance().isInitialized();
+
+        Thread.currentThread().setUncaughtExceptionHandler((t, e) -> {
+            DriverStation.reportError("Uncaught exception in auto thread: " + e.getMessage(), e.getStackTrace());
+            getCommandTranslator().stopRobot();
+        });
+
+        if (autonomous == DO_NOTHING_AUTONOMOUS) {
+            DriverStation.reportError("No auto was loaded. Doing nothing.", false);
+            return;
+        }
+
+        AutonomousContainer.getInstance().printDebug("Started Running: " + Timer.getFPGATimestamp());
+
+
+        //Set our initial pose in our robot tracker
+        if (initialPose != null) {
+            getCommandTranslator().setRobotPose(initialPose);
+            AutonomousContainer.getInstance().printDebug("Set initial pose: " + initialPose);
+        } else {
+            AutonomousContainer.getInstance().printDebug("No initial pose set");
+        }
+
+        //Loop though all the steps and execute them
+        List<SendableScript> scriptsToExecuteByTime = new ArrayList<>();
+        List<SendableScript> scriptsToExecuteByPercent = new ArrayList<>();
+
+        for (AbstractAutonomousStep autonomousStep : autonomous.getAutonomousSteps()) {
+            AutonomousContainer.getInstance().printDebug("Doing a step: " + Timer.getFPGATimestamp());
+
+            if (Thread.interrupted()) {
+                getCommandTranslator().stopRobot();
+                AutonomousContainer.getInstance().printDebug("Auto was interrupted " + Timer.getFPGATimestamp());
+                return;
+            }
+
+            try {
+                autonomousStep.execute(scriptsToExecuteByTime, scriptsToExecuteByPercent);
+            } catch (InterruptedException e) {
+                getCommandTranslator().stopRobot();
+                AutonomousContainer.getInstance().printDebug("Auto prematurely stopped at " + Timer.getFPGATimestamp() +
+                        ". This is not an error if you disabled your robot.");
+                if (AutonomousContainer.getInstance().areDebugPrintsEnabled()) {
+                    e.printStackTrace();
+                }
+                return;
+            } catch (CommandExecutionFailedException | ExecutionException e) {
+                getCommandTranslator().stopRobot();
+                e.printStackTrace(); // We should always print this out since it is a fatal error
+                return;
+            }
+        }
+
+        System.out.println("Finished Autonomous at " + Timer.getFPGATimestamp());
+        getCommandTranslator().stopRobot();
+    }
+
+    /**
+     * Gets the initial pose of the robot.
+     *
+     * @return The initial pose of the robot.
+     */
+    public @Nullable Pose2d getInitialPose() {
+        return initialPose;
+    }
+
+    @Override
+    public String toString() {
+        return "GuiAuto{" +
+                "initialPose=" + initialPose +
+                ",autonomous=" + autonomous +
+                '}';
+    }
+}

autobuilder-robot/src/main/java/com/dacubeking/AutoBuilder/robot/NetworkAuto.java

@@ -0,0 +1,20 @@
+package com.dacubeking.AutoBuilder.robot;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import org.jetbrains.annotations.NotNull;
+
+public class NetworkAuto extends GuiAuto {
+
+    static final @NotNull NetworkTableInstance instance = NetworkTableInstance.getDefault();
+    static final @NotNull NetworkTable table = instance.getTable("autodata");
+    static final @NotNull NetworkTableEntry autoPath = table.getEntry("autoPath");
+
+    /**
+     * Deserializes an auto form a NT entry.
+     */
+    public NetworkAuto() {
+        super(autoPath.getString(null));
+    }
+}