Merge pull request #19 from hammerhead226/minchingtonak/filenotfound-…

…crashfix

Minchingtonak/filenotfound crashfix

src/org/hammerhead226/sharkmacro/Parser.java

@@ -42,7 +42,7 @@ public abstract class Parser {
 	/**
 	 * Filename to read from or write a new file with.
 	 */
-	private final String filename;
+	protected final String filename;
 
 	/**
 	 * HashMap object representing a cache of all previously loaded
@@ -117,8 +117,10 @@ protected List<String[]> readFromFile() {
 			reader.close();
 		} catch (FileNotFoundException e) {
 			e.printStackTrace();
+			return null;
 		} catch (IOException e) {
 			e.printStackTrace();
+			return null;
 		}
 
 		cache.put(filename, rawFile);

src/org/hammerhead226/sharkmacro/actions/ActionList.java

@@ -5,6 +5,7 @@
 
 import org.hammerhead226.sharkmacro.Constants;
 
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.Timer;
 
@@ -33,7 +34,7 @@ public class ActionList implements Iterable<Action> {
 	 * Represents whether this {@link ActionList} has finished executing.
 	 */
 	private boolean isFinished = false;
-	
+
 	/**
 	 * Object that takes a runnable class and starts a new thread to call its
 	 * {@link java.lang.Runnable#run() run()} method periodically.
@@ -74,9 +75,23 @@ public Iterator<Action> iterator() {
 	 * This method starts the execution process of this {@link ActionList}.
 	 */
 	public void execute() {
-		isFinished = false;
-		timer.start();
-		thread.startPeriodic(Constants.DT_SECONDS);
+		if (this.actionList != null) {
+			isFinished = false;
+			timer.start();
+			thread.startPeriodic(Constants.DT_SECONDS);
+		} else {
+			DriverStation.getInstance();
+			DriverStation.reportError("Tried to execute empty ActionList!", false);
+		}
+	}
+
+	/**
+	 * Should be called during execution if the process is interrupted. Stops execution.
+	 */
+	public void onInterrupt() {
+		timer.stop();
+		timer.reset();
+		thread.stop();
 	}
 
 	/**
@@ -95,9 +110,9 @@ public boolean isFinished() {
 	 * {@link PeriodicRunnable#run() run()} periodically.
 	 */
 	class PeriodicRunnable implements java.lang.Runnable {
-		
+
 		private ActionList al;
-		
+
 		public PeriodicRunnable(ActionList al) {
 			this.al = al;
 		}
@@ -126,7 +141,8 @@ public void run() {
 	}
 
 	/**
-	 * String representation of each {@link Action} contained in this {@link ActionList}.
+	 * String representation of each {@link Action} contained in this
+	 * {@link ActionList}.
 	 * 
 	 * @return the string representation
 	 */

src/org/hammerhead226/sharkmacro/actions/ActionListParser.java

@@ -7,6 +7,8 @@
 import org.hammerhead226.sharkmacro.Parser;
 import org.hammerhead226.sharkmacro.motionprofiles.Profile;
 
+import edu.wpi.first.wpilibj.DriverStation;
+
 /**
  * Handles the reading and writing of {@link ActionList}s.
  * 
@@ -37,7 +39,8 @@ public ActionListParser(String filename) {
 	 */
 	public boolean writeToFile(ActionList al) {
 		if (al.getSize() == 0) {
-			System.out.println("Tried to write empty ActionList");
+			DriverStation.getInstance();
+			DriverStation.reportWarning("Tried to write empty ActionList!", false);
 			return false;
 		}
 
@@ -65,6 +68,12 @@ public boolean writeToFile(ActionList al) {
 	public ActionList toObject() {
 
 		List<String[]> actionListRaw = readFromFile();
+
+		if (actionListRaw == null) {
+			DriverStation.getInstance();
+			DriverStation.reportError("Tried to load nonexistant ActionList from name: " + super.filename, false);
+			return new ActionList(null);
+		}
 
 		ArrayList<Action> list = new ArrayList<Action>(Constants.ACTIONRECORDER_LIST_DEFAULT_LENGTH);
 		for (String[] s : actionListRaw) {

src/org/hammerhead226/sharkmacro/motionprofiles/Profile.java

@@ -2,7 +2,6 @@
 
 import java.util.Arrays;
 
-import com.ctre.CANTalon;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 
 import edu.wpi.first.wpilibj.DriverStation;
@@ -64,13 +63,17 @@ public class Profile {
 	 * @param rightTalon
 	 *            the Talon to execute the right profile with
 	 */
-	public Profile(double[][] leftProfile, double[][] rightProfile, TalonSRX leftTalon, TalonSRX rightTalon) {
+	public Profile(double[][] leftProfile, double[][] rightProfile, TalonSRX leftTalon, TalonSRX rightTalon,
+			int leftPidSlotIdx, int rightPidSlotIdx) {
 		this.leftProfile = leftProfile;
 		this.rightProfile = rightProfile;
 		this.leftTalon = leftTalon;
 		this.rightTalon = rightTalon;
 		this.length = this.leftProfile.length;
 		this.dt = (int) this.leftProfile[0][2];
+
+		handler = new ProfileHandler(new double[][][] { leftProfile, rightProfile },
+				new TalonSRX[] { leftTalon, rightTalon }, new int[] { leftPidSlotIdx, rightPidSlotIdx });
 	}
 
 	/**
@@ -87,13 +90,18 @@ public Profile(double[][] leftProfile, double[][] rightProfile, TalonSRX leftTal
 	 * @param rightTalon
 	 *            the Talon to execute the right profile with
 	 */
-	public Profile(String[][] leftProfile, String[][] rightProfile, TalonSRX leftTalon, TalonSRX rightTalon) {
+	public Profile(String[][] leftProfile, String[][] rightProfile, TalonSRX leftTalon, TalonSRX rightTalon,
+			int leftPidSlotIdx, int rightPidSlotIdx) {
 		this.leftProfile = toDoubleArray(leftProfile);
 		this.rightProfile = toDoubleArray(rightProfile);
 		this.leftTalon = leftTalon;
 		this.rightTalon = rightTalon;
 		this.length = this.leftProfile.length;
 		this.dt = (int) this.leftProfile[0][2];
+
+		handler = new ProfileHandler(new double[][][] { this.leftProfile, this.rightProfile },
+				new TalonSRX[] { leftTalon, rightTalon }, new int[] { leftPidSlotIdx, rightPidSlotIdx });
+
 	}
 
 	/**
@@ -106,10 +114,13 @@ public Profile(String[][] leftProfile, String[][] rightProfile, TalonSRX leftTal
 	 * @param rightGainsProfile
 	 *            the PID slot index to use to execute the right motion profile
 	 */
-	public void execute(int leftPidSlotIdx, int rightPidSlotIdx) {
-		handler = new ProfileHandler(new double[][][] { leftProfile, rightProfile },
-				new TalonSRX[] { leftTalon, rightTalon }, new int[] { leftPidSlotIdx, rightPidSlotIdx });
-		handler.execute();
+	public void execute() {
+		if (leftProfile.length != 0 && rightProfile.length != 0) {
+			handler.execute();
+		} else {
+			DriverStation.getInstance();
+			DriverStation.reportError("Tried to run empty profile!", false);
+		}
 	}
 
 	/**
@@ -121,7 +132,8 @@ public void onInterrupt() {
 		if (handler != null) {
 			handler.onInterrupt();
 		} else {
-			DriverStation.getInstance().reportWarning("No instance of ProfileHandler to interrupt!", false);
+			DriverStation.getInstance();
+			DriverStation.reportWarning("No instance of ProfileHandler to interrupt!", false);
 		}
 	}
 
@@ -184,6 +196,9 @@ public String[][] getRightProfile_String() {
 	 * @return the converted array
 	 */
 	private static String[][] toStringArray(double[][] arr) {
+		if (arr.length == 0) {
+			return new String[0][0];
+		}
 		String[][] str = new String[arr.length][arr[0].length];
 		int i = 0;
 		for (double[] d : arr) {
@@ -201,6 +216,9 @@ private static String[][] toStringArray(double[][] arr) {
 	 * @return the converted array
 	 */
 	private static double[][] toDoubleArray(String[][] arr) {
+		if (arr.length == 0) {
+			return new double[0][0];
+		}
 		double[][] dbl = new double[arr.length][arr[0].length];
 		int i = 0;
 		for (String[] s : arr) {

src/org/hammerhead226/sharkmacro/motionprofiles/ProfileHandler.java

@@ -120,6 +120,10 @@ public ProfileHandler(final double[][][] profiles, TalonSRX[] talons, int[] pidS
 		}
 
 		executorThread = new Notifier(new PeriodicExecutor());
+
+		fillTalonsWithMotionProfile();
+		DriverStation.getInstance();
+		DriverStation.reportWarning("PROFILE LOADED", false);
 	}
 
 	/**

src/org/hammerhead226/sharkmacro/motionprofiles/ProfileParser.java

@@ -8,6 +8,8 @@
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 
+import edu.wpi.first.wpilibj.DriverStation;
+
 /**
  * Handles the reading and writing of {@link Profile}s.
  * 
@@ -62,8 +64,14 @@ public boolean writeToFile(Profile profile) {
 	 * 
 	 * @return a new {@code Profile} instance
 	 */
-	public Profile toObject(TalonSRX leftTalon, TalonSRX rightTalon) {
+	public Profile toObject(TalonSRX leftTalon, TalonSRX rightTalon, int leftPidSlotIdx, int rightPidSlotIdx) {
 		List<String[]> profileRaw = readFromFile();
+
+		if (profileRaw == null) {
+			DriverStation.getInstance();
+			DriverStation.reportError("Tried to load nonexistant Profile from name: " + super.filename, false);
+			return new Profile(new double[0][0], new double[0][0], leftTalon, rightTalon, leftPidSlotIdx, rightPidSlotIdx);
+		}
 
 		// Process read values into Profile
 		String[][] left = new String[profileRaw.size()][3];
@@ -79,7 +87,7 @@ public Profile toObject(TalonSRX leftTalon, TalonSRX rightTalon) {
 			right[i][2] = profileRaw.get(i)[4];
 		}
 
-		Profile p = new Profile(left, right, leftTalon, rightTalon);
+		Profile p = new Profile(left, right, leftTalon, rightTalon, leftPidSlotIdx, rightPidSlotIdx);
 
 		return p;
 	}

src/org/hammerhead226/sharkmacro/motionprofiles/Recording.java

@@ -59,7 +59,7 @@ public Recording(ArrayList<ArrayList<Double>> recordings, TalonSRX leftTalon, Ta
 	 * 
 	 * @return a new {@link Profile} containing the new motion profiles
 	 */
-	public Profile toProfile() {
+	public Profile toProfile(int leftPidSlotIdx, int rightPidSlotIdx) {
 
 		// Remove differential in list size
 		int minSize = Integer.MAX_VALUE;
@@ -100,7 +100,7 @@ public Profile toProfile() {
 			rightProfile[i][1] = rightFeedforwardValues.get(i);
 			rightProfile[i][2] = Constants.DT_MS;
 		}
-		return new Profile(leftProfile, rightProfile, leftTalon, rightTalon);
+		return new Profile(leftProfile, rightProfile, leftTalon, rightTalon, leftPidSlotIdx, rightPidSlotIdx);
 	}
 
 	/**