successfully open and close client socket after deploying

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.ServerSocket;

import org.usfirst.frc.team3501.robot.Constants.Defense;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends IterativeRobot {
  public static OI oi;
  public static DriveTrain driveTrain;
  public static Shooter shooter;

  public static Scaler scaler;

  public static IntakeArm intakeArm;
  public static DefenseArm defenseArm;

  // Sendable Choosers send a drop down menu to the Smart Dashboard.
  SendableChooser positionChooser;
  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
      positionFourDefense, positionFiveDefense;

  ServerSocket roboRIO;
  DataInputStream beagleBoneInput;
  DataOutputStream beagleBoneOutput;
  DataInputStream roboRIOInput;
  DataOutputStream roboRIOOutput;

  @Override
  public void robotInit() {
    try {
      roboRIO = new ServerSocket(1024);
      System.out.println("successfully opened");
      // // create input stream for beagle bone to receive response from roboRIO
      // roboRIOInput = new DataInputStream(roboRIO.getInputStream());
      // // create output stream to send information to the server socket
      // roboRIOOutput = new DataOutputStream(roboRIO.getOutputStream());

      roboRIO.close();
      System.out.println("successfully closed");
    } catch (IOException e) {
      System.out.println(e);
    }

    // driveTrain = new DriveTrain();
    // oi = new OI();
    //
    // shooter = new Shooter();
    // scaler = new Scaler();
    // intakeArm = new IntakeArm();
    //
    // initializeSendableChoosers();
    // addPositionChooserOptions();
    // addDefensesToAllDefenseSendableChoosers();
    // sendSendableChoosersToSmartDashboard();

  }

  private void initializeSendableChoosers() {
    positionChooser = new SendableChooser();
    positionOneDefense = new SendableChooser();
    positionTwoDefense = new SendableChooser();
    positionThreeDefense = new SendableChooser();
    positionFourDefense = new SendableChooser();
    positionFiveDefense = new SendableChooser();
  }

  private void addPositionChooserOptions() {
    positionChooser.addDefault("Position 1", 1);
    positionChooser.addObject("Position 2", 2);
    positionChooser.addObject("Position 3", 3);
    positionChooser.addObject("Position 4", 4);
    positionChooser.addObject("Position 5", 5);
  }

  private void addDefensesToAllDefenseSendableChoosers() {
    addDefenseOptions(positionOneDefense);
    addDefenseOptions(positionTwoDefense);
    addDefenseOptions(positionThreeDefense);
    addDefenseOptions(positionFourDefense);
    addDefenseOptions(positionFiveDefense);
  }

  private void addDefenseOptions(SendableChooser chooser) {
    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
    chooser.addObject("Sally Port", Defense.SALLY_PORT);
    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
    chooser.addObject("Low Bar", Defense.LOW_BAR);
    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
    chooser.addObject("Moat", Defense.MOAT);
    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  }

  private void sendSendableChoosersToSmartDashboard() {
    SmartDashboard.putData("PositionChooser", positionChooser);
    SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
    SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
    SmartDashboard.putData("Position Three Defense Chooser",
        positionThreeDefense);
    SmartDashboard.putData("Position Four Defense Chooser",
        positionFourDefense);
    SmartDashboard.putData("Position Five Defense Chooser",
        positionFiveDefense);

    SmartDashboard.putData("Position Four Defense Chooser",
        positionFourDefense);
    SmartDashboard.putData("Position Five Defense Chooser",
        positionFiveDefense);

    shooter = new Shooter();

  }

  @Override
  public void autonomousInit() {
    Scheduler.getInstance().run();

    // // get options chosen from drop down menu
    // Integer chosenPosition = (Integer) positionChooser.getSelected();
    // Integer chosenDefense = 0;
    //
    // if (chosenPosition == 1)
    // chosenDefense = (Integer) positionOneDefense.getSelected();
    // else if (chosenPosition == 2)
    // chosenDefense = (Integer) positionTwoDefense.getSelected();
    // else if (chosenPosition == 3)
    // chosenDefense = (Integer) positionThreeDefense.getSelected();
    // else if (chosenPosition == 4)
    // chosenDefense = (Integer) positionFourDefense.getSelected();
    // else if (chosenPosition == 5)
    // chosenDefense = (Integer) positionFiveDefense.getSelected();
    //
    // System.out.println("Chosen Position: " + chosenPosition);
    // System.out.println("Chosen Defense: " + chosenDefense);
  }

  @Override
  public void autonomousPeriodic() {
    Scheduler.getInstance().run();
  }

  @Override
  public void teleopInit() {
  }

  @Override
  public void teleopPeriodic() {
    Scheduler.getInstance().run();
  }

}