mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
Simplified ServerHandler, move ApplyFields to set value function
This commit is contained in:
Omer
@@ -11,6 +11,7 @@ import edu.wpi.cscore.VideoException;
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import io.javalin.websocket.*;
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import org.apache.commons.lang3.ArrayUtils;
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import org.apache.commons.lang3.builder.ReflectionToStringBuilder;
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import org.apache.commons.lang3.builder.ToStringBuilder;
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import org.apache.commons.lang3.builder.ToStringStyle;
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import org.msgpack.core.MessagePack;
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import org.msgpack.core.MessageUnpacker;
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@@ -18,6 +19,7 @@ import org.msgpack.value.ImmutableArrayValue;
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import org.msgpack.value.ImmutableValue;
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import org.msgpack.value.Value;
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import org.springframework.beans.BeanUtils;
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import java.lang.reflect.Field;
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import java.util.*;
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@@ -44,147 +46,100 @@ public class ServerHandler {
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int length = unpacker.unpackMapHeader();
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for (int mapIndex = 0; mapIndex < length; mapIndex++) {
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String key = unpacker.unpackString(); // key
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Object value = get(unpacker.unpackValue());
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// Object value = get(unpacker.unpackValue());
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ImmutableValue value = unpacker.unpackValue();
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try {
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if (hasField(CameraManager.getCurrentPipeline(), key)) {
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//Special cases for exposure and brightness and aspect ratio
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switch (key) {
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case "exposure":
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int newExposure = (int) value;
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System.out.printf("Changing exposure to %d\n", newExposure);
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switch (key) {
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case "generalSettings": {
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//change general settings using a general settings object
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break;
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}
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case "cameraSettings": {
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//change camera settings using a camera settings object
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break;
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}
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case "command": {
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// used to define all incoming commands
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break;
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}
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case "currentCamera": {
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//camera name by string
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break;
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}
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case "currentPipeline": {
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// camera pipeline by index
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break;
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}
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default: {//Change pipeline values
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//Two special cases for exposure and brightness changes
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if (key.equals("exposure"))
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try {
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;
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CameraManager.getCurrentCamera().setExposure(newExposure);
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CameraManager.getCurrentCamera().setExposure(value.asIntegerValue().toInt());
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} catch (VideoException e) {
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System.out.println("Exposure changes is not supported on your webcam/webcam's driver");
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}
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break;
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case "brightness":
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int newBrightness = (int) value;
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System.out.printf("Changing brightness to %d\n", newBrightness);
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CameraManager.getCurrentCamera().setBrightness(newBrightness);
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break;
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case "ratio":
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CameraManager.getCurrentPipeline().ratio=getFloatList((ImmutableArrayValue) value);
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break;
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case "area":
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CameraManager.getCurrentPipeline().area=getFloatList((ImmutableArrayValue) value);
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break;
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//Enums
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case "targetIntersection":
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setField(CameraManager.getCurrentPipeline(), key, TargetIntersection.values()[(int) value]);
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break;
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case "targetGroup":
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setField(CameraManager.getCurrentPipeline(), key, TargetGroup.values()[(int) value]);
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break;
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case "sortMode":
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setField(CameraManager.getCurrentPipeline(), key, SortMode.values()[(int) value]);
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break;
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case "orientation":
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setField(CameraManager.getCurrentPipeline(), key, Orientation.values()[(int) value]);
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break;
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default:
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//Any other field in CameraManager that doesn't need anything special
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setField(CameraManager.getCurrentPipeline(), key, value);
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break;
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}
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} else {
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switch (key) {
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case "change_general_settings_values":
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Map<String, Object> map = (Map<String, Object>) value;
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map.forEach((s, o) -> setField(SettingsManager.GeneralSettings, s, o));
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SettingsManager.saveSettings();
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break;
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case "curr_camera":
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String newCamera = (String) value;
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System.out.printf("Changing camera to %s\n", newCamera);
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CameraManager.setCurrentCamera(newCamera);
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HashMap<String, Integer> portMap = new HashMap<>();
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portMap.put("port", CameraManager.getCurrentCamera().getStreamPort());
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sendFullSettings();
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break;
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case "curr_pipeline":
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int newPipeline = (int) value;
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System.out.printf("Changing pipeline to %s\n", newPipeline);
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CameraManager.setCurrentPipeline(newPipeline);
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CameraManager.getCurrentCameraProcess().ntPipelineEntry.setNumber(newPipeline);
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broadcastMessage(allFieldsToMap(CameraManager.getCurrentPipeline()));
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break;
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case "resolution":
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int newVideoMode = (int) value;
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System.out.printf("Changing video mode to %d\n", newVideoMode);
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CameraManager.getCurrentCamera().setCamVideoMode(newVideoMode, true);
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break;
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case "FOV":
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float newFov = ((Integer) value) * 1F;//TODO check this
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System.out.printf("Changing FOV to %f\n", newFov);
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CameraManager.getCurrentCamera().setFOV(newFov);
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break;
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default:
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System.out.printf("Unexpected value from websocket: [%s, %s]\n", key, value);
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break;
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else if (key.equals("brightness")) try {
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CameraManager.getCurrentCamera().setBrightness(value.asIntegerValue().toInt());
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} catch (VideoException e) {
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e.printStackTrace();
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}
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else
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setValue(CameraManager.getCurrentPipeline(), key, value);//All of the other assignments fields
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System.out.println(ToStringBuilder.reflectionToString(CameraManager.getCurrentPipeline()));//Print all pipeline data for debugging
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break;
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}
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}
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} catch (CameraException e) {
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System.err.println("Camera error");
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e.printStackTrace();
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} catch (Exception e) {
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unexpectedData(key, value);
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}
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}
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}
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private void setField(Object obj, String fieldName, Object value) {
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private void setValue(Object obj, String fieldName, ImmutableValue value) {
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try {
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boolean found = false;
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Field[] fields = obj.getClass().getFields();
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for (Field f : fields) {
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if (f.getName().equals(fieldName)) {
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if (BeanUtils.isSimpleValueType(f.getType())) {
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f.set(obj, value);
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} else if (value instanceof ImmutableArrayValue) {
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found = true;
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if (f.getType().isEnum())//Field is enum like Orientation
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f.set(obj, f.getType().getEnumConstants()[value.asIntegerValue().toInt()]);
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else if (value.isBooleanValue()) {//Field is boolean like erode
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f.set(obj, value.asBooleanValue().getBoolean());
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} else if (value.isIntegerValue()) {//Field is int like M and B
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f.set(obj, value.asIntegerValue().toInt());
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} else if (f.get(obj) instanceof List<?>) {
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List<Value> valLst = ((ImmutableArrayValue) value).list();
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List<Object> lst = new ArrayList<>();
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for (Value val : valLst) {
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lst.add(get((ImmutableValue) val));
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if (((List) f.get(obj)).get(0).getClass().equals(Float.class)) {//Field is List of Floats like area in pipeline
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List<Float> lst = new ArrayList<>();
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for (Value v : valLst) {
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lst.add(v.isFloatValue() ? v.asFloatValue().toFloat() : (float) v.asIntegerValue().toInt());//Adds float if value is float, casts value to float from int otherwise
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}
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f.set(obj, lst);
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} else if (((List) f.get(obj)).get(0).getClass().equals(Integer.class)) {//Fields is List of Integers like hue in pipeline
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List<Integer> lst = new ArrayList<>();
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for (Value v : valLst) {
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lst.add(v.asIntegerValue().toInt());
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}
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f.set(obj, lst);
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}
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f.set(obj, lst);
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}
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}
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}
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if (!found)
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unexpectedData(fieldName, value);
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} catch (Exception e) {
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System.out.println("Exception setting field ");
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System.out.println("Exception setting field");
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e.printStackTrace();
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}
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}
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private Object get(ImmutableValue v) throws Exception {
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//TODO find a smarter way to write this
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if (v.isIntegerValue())
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return v.asIntegerValue().toInt();
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if (v.isFloatValue())
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return v.asFloatValue().toFloat();
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if (v.isArrayValue()) {
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return v.asArrayValue();
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}
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if (v.isBinaryValue())
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return v.asBinaryValue().asByteArray();
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if (v.isBooleanValue())
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return v.asBooleanValue().getBoolean();
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if (v.isMapValue())
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return v.asMapValue().map();
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if (v.isStringValue())
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return v.asStringValue().asString();
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throw new Exception("Value not recognized");
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}
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private List<Float> getFloatList(ImmutableArrayValue arrayValue) {
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List<Float> output = new ArrayList<>();
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List<Value> values = arrayValue.list();
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for (Value v:values) {
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if (v.isFloatValue())
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output.add(v.asFloatValue().toFloat());
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else
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output.add((float) v.asIntegerValue().toInt());
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}
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return output;
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public void unexpectedData(String key, ImmutableValue v) {
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System.err.println("Unexpected key or value, key=" + key + " Value=" + v.toString());
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//TODO send a error message to the user
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//TODO in the very far future send a bug report?
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}
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private static void broadcastMessage(Object obj, WsContext userToSkip) {
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@@ -201,16 +156,6 @@ public class ServerHandler {
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broadcastMessage(obj, null);//Broadcasts the message to every user
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}
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private boolean hasField(Object obj, String fieldName) {
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Field[] fields = obj.getClass().getFields();
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for (Field field : fields) {
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if (fieldName.equals(field.getName()))
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return true;
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}
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return false;
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}
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private static Map<String, Object> allFieldsToMap(Object obj) {
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Map map = new HashMap<String, Object>();
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try {
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