|
| 1 | +package org.usfirst.frc.team199.Robot2018.autonomous; |
| 2 | + |
| 3 | +import java.util.ArrayList; |
| 4 | +import java.util.HashMap; |
| 5 | +import java.util.Map; |
| 6 | + |
| 7 | +public class AutoUtils { |
| 8 | + |
| 9 | + /** |
| 10 | + * Parses the inputted script file into a map of scripts |
| 11 | + * |
| 12 | + * @param scriptFile the script file to parse |
| 13 | + * @return a map, with the key being the script name, and the argument |
| 14 | + * being a list of arrays that are instruction-argument pairs |
| 15 | + */ |
| 16 | + public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile) { |
| 17 | + Map<String, ArrayList<String[]>> autoScripts = new HashMap<String, ArrayList<String[]>>(); |
| 18 | + |
| 19 | + String lines[] = scriptFile.split("\\r?\\n"); |
| 20 | + |
| 21 | + ArrayList<String[]> currScript = new ArrayList<String[]>(); |
| 22 | + String currScriptName = ""; |
| 23 | + |
| 24 | + int count = 0; |
| 25 | + for (String line : lines) { |
| 26 | + // remove comments |
| 27 | + line = line.substring(0, line.indexOf("#")); |
| 28 | + |
| 29 | + // trim just to make it neater |
| 30 | + line = line.trim(); |
| 31 | + |
| 32 | + // if there's no instruction on this line, skip |
| 33 | + if (line.equals("")) { |
| 34 | + continue; |
| 35 | + } |
| 36 | + |
| 37 | + // if current line is a label, store the previous script and make a new empty one |
| 38 | + if (line.endsWith(":")) { |
| 39 | + autoScripts.put(currScriptName, currScript); |
| 40 | + currScript = new ArrayList<String[]>(); |
| 41 | + currScriptName = line.substring(0, line.length() - 1); |
| 42 | + } else { |
| 43 | + |
| 44 | + // first separate the command into instruction and args |
| 45 | + String instruction; |
| 46 | + String args; |
| 47 | + |
| 48 | + int separator = line.indexOf(' '); |
| 49 | + if (separator == -1) { |
| 50 | + instruction = line; |
| 51 | + args = ""; |
| 52 | + } else { |
| 53 | + instruction = line.substring(0, separator); |
| 54 | + args = line.substring(separator + 1); |
| 55 | + } |
| 56 | + |
| 57 | + // if it's valid, put it into the script |
| 58 | + if (isValidCommand(instruction, args, count)) { |
| 59 | + String[] command = {instruction, args}; |
| 60 | + currScript.add(command); |
| 61 | + } |
| 62 | + } |
| 63 | + count++; |
| 64 | + } |
| 65 | + |
| 66 | + // puts the last script in |
| 67 | + autoScripts.put(currScriptName, currScript); |
| 68 | + |
| 69 | + return autoScripts; |
| 70 | + } |
| 71 | + |
| 72 | + |
| 73 | + /** |
| 74 | + * Validates the command inputted to see if it's AAA compliant |
| 75 | + * |
| 76 | + * @param instruction the instruction/command name |
| 77 | + * @param args the arguments provided to the instruction. A blank String if none |
| 78 | + * @param lineNumber the lineNumber in the script file. used for logging warnings |
| 79 | + * @return if the command is valid |
| 80 | + */ |
| 81 | + public static boolean isValidCommand (String instruction, String args, int lineNumber) { |
| 82 | + // moveto takes in a set of points, and the last arg can be a number |
| 83 | + if (instruction.equals("moveto")) { |
| 84 | + if (args == "") { |
| 85 | + logWarning(lineNumber, "The command `moveto` requires at least one argument."); |
| 86 | + return false; |
| 87 | + } |
| 88 | + |
| 89 | + String[] splitArgs = args.split(" "); |
| 90 | + for (int i = 0; i < splitArgs.length - 1; i++) { |
| 91 | + if (!isPoint(splitArgs[i])) { |
| 92 | + logWarning(lineNumber, "The arguments for command `moveto` should be points formatted like this: " |
| 93 | + + "`(x,y)`."); |
| 94 | + return false; |
| 95 | + } |
| 96 | + } |
| 97 | + |
| 98 | + if (!isDouble(splitArgs[splitArgs.length - 1]) && !isPoint(splitArgs[splitArgs.length - 1])) { |
| 99 | + logWarning(lineNumber, "The last argument for command `moveto` should be a number, or a point " |
| 100 | + + "formatted like this: `(x,y)`."); |
| 101 | + return false; |
| 102 | + } |
| 103 | + } |
| 104 | + |
| 105 | + // turn can take a number or point |
| 106 | + else if (instruction.equals("turn")) { |
| 107 | + if (args.contains(" ")) { |
| 108 | + logWarning(lineNumber, "Command `turn` only accepts one argument."); |
| 109 | + return false; |
| 110 | + } |
| 111 | + |
| 112 | + if (!isDouble(args) && !isPoint(args)) { |
| 113 | + logWarning(lineNumber, "The argument for command `turn` should be a number or a point formatted like " |
| 114 | + + "this: `(x,y)`."); |
| 115 | + return false; |
| 116 | + } |
| 117 | + } |
| 118 | + |
| 119 | + // move and wait can take only a number |
| 120 | + else if (instruction.equals("move") || instruction.equals("wait")) { |
| 121 | + if (args.contains(" ")) { |
| 122 | + logWarning(lineNumber, "Command `move` only accepts one argument."); |
| 123 | + return false; |
| 124 | + } |
| 125 | + |
| 126 | + if (!isDouble(args)) { |
| 127 | + logWarning(lineNumber, "The argument for command `move` should be a number."); |
| 128 | + return false; |
| 129 | + } |
| 130 | + } |
| 131 | + |
| 132 | + // switch, scale, exchange, intake, and end all don't have any args |
| 133 | + else if (instruction.equals("switch") || instruction.equals("scale") || instruction.equals("exchange") |
| 134 | + || instruction.equals("intake") || instruction.equals("end")) { |
| 135 | + if (!args.equals("")) { |
| 136 | + logWarning(lineNumber, "Command `" + instruction + "` does not accept any arguments."); |
| 137 | + return false; |
| 138 | + } |
| 139 | + } |
| 140 | + |
| 141 | + // Jump only takes one argument |
| 142 | + else if (instruction.equals("jump")) { |
| 143 | + if (args.contains(" ")) { |
| 144 | + logWarning(lineNumber, "Command `jump` only accepts one argument."); |
| 145 | + return false; |
| 146 | + } |
| 147 | + } |
| 148 | + |
| 149 | + // if it's not even a valid instruction |
| 150 | + else { |
| 151 | + logWarning(lineNumber, "`" + instruction + "` is not a valid command."); |
| 152 | + return false; |
| 153 | + } |
| 154 | + |
| 155 | + // if everything is all good |
| 156 | + return true; |
| 157 | + } |
| 158 | + |
| 159 | + /** |
| 160 | + * Helper method used by isValidCommand() to log warnings for non-valid commands. |
| 161 | + * |
| 162 | + * @param lineNumber the line number in the script file |
| 163 | + * @param message the message to log |
| 164 | + */ |
| 165 | + private static void logWarning (int lineNumber, String message) { |
| 166 | + System.err.println("[WARNING] Line " + lineNumber + ": " + message); |
| 167 | + } |
| 168 | + |
| 169 | + /** |
| 170 | + * Helper method used by isValidCommand() to check if an argument is a |
| 171 | + * point, characterized by parentheses on the left and right, with two |
| 172 | + * numbers separated by a comma, with no whitespace in between. |
| 173 | + * |
| 174 | + * @param s the argument |
| 175 | + * @return if the argument is a point |
| 176 | + */ |
| 177 | + private static boolean isPoint (String s) { |
| 178 | + // checks if it starts and ends with parentheses |
| 179 | + if (!s.startsWith("(") || !s.endsWith(")")) |
| 180 | + return false; |
| 181 | + |
| 182 | + // checks that there's one, and only one comma (like this phrase) |
| 183 | + int indexOfComma = s.indexOf(','); |
| 184 | + int count = 0; |
| 185 | + while (indexOfComma != -1) { |
| 186 | + count++; |
| 187 | + indexOfComma = s.indexOf(',', indexOfComma + 1); |
| 188 | + } |
| 189 | + if (count != 1) |
| 190 | + return false; |
| 191 | + |
| 192 | + |
| 193 | + // really ugly, but just checks if the stuff between the parentheses are numbers |
| 194 | + if (!isDouble(s.substring(s.indexOf('('), s.indexOf(','))) |
| 195 | + || !isDouble(s.substring(s.indexOf(',') + 1, s.indexOf(')')))) |
| 196 | + return false; |
| 197 | + |
| 198 | + return true; |
| 199 | + } |
| 200 | + |
| 201 | + /** |
| 202 | + * Helper method used by isValidCommand() used to check if an argument is |
| 203 | + * able to be converted into a double |
| 204 | + * |
| 205 | + * @param s the argument |
| 206 | + * @return if the argument is a double |
| 207 | + */ |
| 208 | + private static boolean isDouble (String s) { |
| 209 | + try { |
| 210 | + Double.parseDouble(s); |
| 211 | + } catch (Exception e) { |
| 212 | + return false; |
| 213 | + } |
| 214 | + return true; |
| 215 | + } |
| 216 | +} |
0 commit comments