Merge pull request #14 from ncsurobotics/pool_test

Raw and Local Minimal Control

Author: Bennett-Petzold

.classpath

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="app/src/main/java"/>
+	<classpathentry kind="src" path="app/src/test/java"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER">
+		<attributes>
+			<attribute name="module" value="true"/>
+		</attributes>
+	</classpathentry>
+	<classpathentry kind="lib" path="gradle/wrapper/gradle-wrapper.jar"/>
+	<classpathentry kind="lib" path="C:/Users/vaibh/Downloads/jSerialComm-2.9.2.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

.gitignore

@@ -1,6 +1,8 @@
 .gradle
 /build/
 
+*.class
+
 # Ignore Gradle GUI config
 gradle-app.setting
 
@@ -15,3 +17,5 @@ gradle-app.setting
 
 # Ignore Gradle build output directory
 build
+/bin/
+.idea

.project

@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>SW8S-Java</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.buildship.core.gradleprojectbuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.buildship.core.gradleprojectnature</nature>
+	</natures>
+	<filteredResources>
+		<filter>
+			<id>1665775838382</id>
+			<name></name>
+			<type>30</type>
+			<matcher>
+				<id>org.eclipse.core.resources.regexFilterMatcher</id>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}

app/bin/main/org/aquapackrobotics/sw8s/App.class

@@ -9,8 +9,12 @@
 plugins {
     // Apply the application plugin to add support for building a CLI application in Java.
     id 'application'
+	// Support for generating project metadata
+	id 'eclipse'
 }
 
+mainClassName = "org.aquapackrobotics.sw8s.App"
+
 java {
     // Set Java version to 11
     // https://docs.gradle.org/current/userguide/toolchains.html
@@ -19,6 +23,31 @@ java {
     }
 }
 
+run {
+    standardInput = System.in
+}
+
+jar {
+	manifest {
+		attributes(
+			'Main-Class': "$mainClassName"
+		)
+	}
+}
+
+task fatJar(type: Jar) {
+  manifest.from jar.manifest
+  classifier = 'all'
+  from {
+    configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) }
+  } {
+    exclude "META-INF/*.SF"
+    exclude "META-INF/*.DSA"
+    exclude "META-INF/*.RSA"
+  }
+  with jar
+}
+
 repositories {
     // Use Maven Central for resolving dependencies.
     mavenCentral()
@@ -30,9 +59,10 @@ dependencies {
 
     // This dependency is used by the application.
     implementation 'com.google.guava:guava:31.0.1-jre'
+    implementation 'com.fazecast:jSerialComm:[2.0.0,3.0.0)'
 }
 
 application {
     // Define the main class for the application.
-    mainClass = 'org.aquapackrobotics.sw8s.App'
+    mainClass = mainClassName
 }

app/bin/main/org/aquapackrobotics/sw8s/missions/AutoMission.class

@@ -5,21 +5,67 @@
 
 import java.util.concurrent.ScheduledThreadPoolExecutor;
 
-import org.aquapackrobotics.sw8s.missions.Mission;
-import org.aquapackrobotics.sw8s.missions.AutoMission;
+import org.aquapackrobotics.sw8s.missions.*;
+
+import java.util.concurrent.*;
 
 public class App {
 
     static final int POOLSIZE = 1;
-
+    
     public String getGreeting() {
         return "Hello World!";
     }
 
-    public static void main(String[] args) {
+    public static void main(String[] args) throws ExecutionException, InterruptedException {
         ScheduledThreadPoolExecutor pool = new ScheduledThreadPoolExecutor(POOLSIZE);
+        String helpFlag[] = {"\nBasic Utility:", "\n'test' -- The Command Flag used in Testing", "'help' or 'h' -- displays list of command flags", "\nStates:", "\n"};
+        System.out.println("Basic Format: gradle run --args='_'");        
+        for (String str: args) {
+            switch (str) {
+                case "--test":
+                    System.out.println("Yay! it worked!");
+                    break;
+                case "-h":
+                    for(int i = 0; i < helpFlag.length; i++){
+                        System.out.println(helpFlag[i]);
+                    }
+                case "--help":
+                    for(int i = 0; i < helpFlag.length; i++){
+                        System.out.println(helpFlag[i]);
+                    }
+                    break;
+                case "--raw_test":
+                    Mission missionRaw_Test = (Mission) new Raw_Test(pool);
+                    missionRaw_Test.run();
+                    break;
+                case "--local_test":
+                    Mission missionLocal_Test = (Mission) new Local_Test(pool);
+                    missionLocal_Test.run();
+                    break;
+                // case "-s1":
+                //     executeState(State1);
+                //     break;
+                // case "-s2":
+                //     executeState(State2);
+                //     break;
+                // case "-s3":
+                //     executeState(State3);
+                //     break;
+                case "manual":
+                    Mission missionManual = (Mission) new ManualMission(pool);
+                    missionManual.run();
+                    break;
+                default:
+                    Mission missionAuto = (Mission) new AutoMission(pool);
+                    missionAuto.run();
+                    break;
+
+            }
+        }
+        
         Mission mission = (Mission) new AutoMission(pool);
 
-        mission.run();
+        
     }
 }

app/bin/main/org/aquapackrobotics/sw8s/missions/ManualMission.class

@@ -0,0 +1,32 @@
+package org.aquapackrobotics.sw8s.comms;
+
+/**
+ * Comms-only helper class to encode CRC.
+ */
+class CRC
+{
+    /**
+     * Calculate 16-bit CRC (CCITT-FALSE) of the given data
+     * @param data Data to calculate crc of
+     * @param len The length to calculate the CRC of
+     * @return Calculated crc
+     */
+    static short CITT16_False(byte[] data, int len) {
+        short crc = (short) 0xFFFF;
+        int pos = 0;
+        while (pos < len) {
+            byte b = data[pos];
+            for(int i = 0; i < 8; ++i){
+                byte bit = ((b >> (7 - i) & 1) == 1) ? (byte) 1 : (byte) 0;
+                byte c15 = ((crc >> 15 & 1) == 1) ? (byte) 1 : (byte) 0;
+                crc <<= 1;
+                if ((c15 ^ bit) != 0) {
+                    crc ^= 0x1021;
+                }
+            }
+
+            pos++;
+        }
+        return crc;
+    }
+}