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Update CheesyVision for 2015 #4

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Update CheesyVision for 2015 #4

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5bda7bf
Update cheesyvision.py to use mDNS
TechplexEngineer Aug 29, 2014
a9e3feb
Update CheesyVisionRobot.java to use the Java8 Socket class
TechplexEngineer Aug 29, 2014
eb22564
Update CheesyVisionRobot.java to use the Java8 Comm classes
TechplexEngineer Aug 29, 2014
c3bc435
Revert mistaken changes to CheesyVisionRobot.java
TechplexEngineer Aug 29, 2014
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4 changes: 2 additions & 2 deletions cheesyvision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@
import socket
import time

# CHANGE THIS TO BE YOUR TEAM'S cRIO IP ADDRESS!
HOST, PORT = "10.2.54.2", 1180
# CHANGE THIS TO BE YOUR TEAM NUMBER IP ADDRESS!
HOST, PORT = "roborio-254.local", 1180

# Name of displayed window
WINDOW_NAME = "CheesyVision"
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29 changes: 15 additions & 14 deletions examples/Java-CheesyVisionSample/src/com/team254/lib/CheesyVisionServer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,20 @@
*/

import edu.wpi.first.wpilibj.Timer;

import java.io.IOException;
import java.io.InputStream;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.Vector;
import javax.microedition.io.Connector;
import javax.microedition.io.ServerSocketConnection;
import javax.microedition.io.SocketConnection;


public class CheesyVisionServer implements Runnable {

private static CheesyVisionServer instance_;
Thread serverThread = new Thread(this);
private int listenPort_;
private Vector connections_;
private Vector<Socket> connections_;
private boolean counting_ = false;
private int leftCount_ = 0, rightCount_ = 0, totalCount_ = 0;
private boolean curLeftStatus_ = false, curRightStatus_ = false;
Expand Down Expand Up @@ -46,7 +47,7 @@ private CheesyVisionServer() {

private CheesyVisionServer(int port) {
listenPort_ = port;
connections_ = new Vector();
connections_ = new Vector<Socket>();
}

public boolean hasClientConnection() {
Expand Down Expand Up @@ -101,25 +102,25 @@ public boolean getRightStatus() {
// This class handles incoming TCP connections
private class VisionServerConnectionHandler implements Runnable {

SocketConnection connection;
Socket connection;

public VisionServerConnectionHandler(SocketConnection c) {
public VisionServerConnectionHandler(Socket c) {
connection = c;
}

public void run() {
try {
InputStream is = connection.openInputStream();
InputStream is = connection.getInputStream();

int ch = 0;
//int ch = 0;
byte[] b = new byte[1024];
double timeout = 10.0;
double lastHeartbeat = Timer.getFPGATimestamp();
CheesyVisionServer.this.lastHeartbeatTime_ = lastHeartbeat;
while (Timer.getFPGATimestamp() < lastHeartbeat + timeout) {
boolean gotData = false;
//boolean gotData = false;
while (is.available() > 0) {
gotData = true;
//gotData = true;
int read = is.read(b);
for (int i = 0; i < read; ++i) {
byte reading = b[i];
Expand Down Expand Up @@ -151,11 +152,11 @@ public void run() {
// This method listens for incoming connections and spawns new
// VisionServerConnectionHandlers to handle them
public void run() {
ServerSocketConnection s = null;
ServerSocket s = null;
try {
s = (ServerSocketConnection) Connector.open("serversocket://:" + listenPort_);
s = new ServerSocket(listenPort_);
while (listening_) {
SocketConnection connection = (SocketConnection) s.acceptAndOpen();
Socket connection = (Socket) s.accept();
Thread t = new Thread(new CheesyVisionServer.VisionServerConnectionHandler(connection));
t.start();
connections_.addElement(connection);
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