why

mjansen4857 · Oct 15, 2023 · 7fc395b · 7fc395b
1 parent bb3ce87
commit 7fc395b
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Showing 4 changed files with 24 additions and 23 deletions.
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp
@@ -13,7 +13,7 @@
 #include <stdexcept>
 #include <frc2/command/Commands.h>
 #include <frc/Filesystem.h>
-#include <wpi/raw_istream.h>
+#include <wpi/MemoryBuffer.h>
 
 using namespace pathplanner;
 
@@ -267,14 +267,14 @@ frc2::CommandPtr AutoBuilder::buildAuto(std::string autoName) {
 			+ "/pathplanner/autos/" + autoName + ".auto";
 
 	std::error_code error_code;
-	wpi::raw_fd_istream input { filePath, error_code };
+	std::unique_ptr < wpi::MemoryBuffer > fileBuffer =
+			wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (error_code) {
+	if (fileBuffer == nullptr || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json;
-	input >> json;
+	wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
 
 	return getAutoCommandFromJson(json);
 }

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp
@@ -2,7 +2,7 @@
 #include "pathplanner/lib/auto/AutoBuilder.h"
 #include "pathplanner/lib/util/PPLibTelemetry.h"
 #include <frc/Filesystem.h>
-#include <wpi/raw_istream.h>
+#include <wpi/MemoryBuffer.h>
 
 using namespace pathplanner;
 
@@ -22,14 +22,14 @@ std::vector<std::shared_ptr<PathPlannerPath>> PathPlannerAuto::getPathGroupFromA
 			+ "/pathplanner/autos/" + autoName + ".auto";
 
 	std::error_code error_code;
-	wpi::raw_fd_istream input { filePath, error_code };
+	std::unique_ptr < wpi::MemoryBuffer > fileBuffer =
+			wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (error_code) {
+	if (fileBuffer == nullptr || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json;
-	input >> json;
+	wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
 
 	return pathsFromCommandJson(json.at("command"));
 }
@@ -39,14 +39,14 @@ frc::Pose2d PathPlannerAuto::getStartingPoseFromAutoFile(std::string autoName) {
 			+ "/pathplanner/autos/" + autoName + ".auto";
 
 	std::error_code error_code;
-	wpi::raw_fd_istream input { filePath, error_code };
+	std::unique_ptr < wpi::MemoryBuffer > fileBuffer =
+			wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (error_code) {
+	if (fileBuffer == nullptr || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json;
-	input >> json;
+	wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
 
 	return AutoBuilder::getStartingPoseFromJson(json.at("startingPose"));
 }

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -2,7 +2,7 @@
 #include "pathplanner/lib/util/GeometryUtil.h"
 #include "pathplanner/lib/util/PPLibTelemetry.h"
 #include <frc/Filesystem.h>
-#include <wpi/raw_istream.h>
+#include <wpi/MemoryBuffer.h>
 #include <limits>
 #include <optional>
 
@@ -87,14 +87,14 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::fromPathFile(
 			+ "/pathplanner/paths/" + pathName + ".path";
 
 	std::error_code error_code;
-	wpi::raw_fd_istream input { filePath, error_code };
+	std::unique_ptr < wpi::MemoryBuffer > fileBuffer =
+			wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (error_code) {
+	if (fileBuffer == nullptr || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json;
-	input >> json;
+	wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
 
 	std::shared_ptr < PathPlannerPath > path = std::make_shared
 			< PathPlannerPath > (PathPlannerPath::fromJson(json));

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp
@@ -1,7 +1,7 @@
 #include "pathplanner/lib/pathfinding/LocalADStar.h"
 #include <cmath>
 #include <frc/Filesystem.h>
-#include <wpi/raw_istream.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/json.h>
 #include <chrono>
 #include <frc/Errors.h>
@@ -26,12 +26,13 @@ LocalADStar::LocalADStar() : fieldLength(16.54), fieldWidth(8.02), nodeSize(
 			+ "/pathplanner/navgrid.json";
 
 	std::error_code error_code;
-	wpi::raw_fd_istream input { filePath, error_code };
+	std::unique_ptr < wpi::MemoryBuffer > fileBuffer =
+			wpi::MemoryBuffer::GetFile(filePath, error_code);
 
 	if (!error_code) {
 		try {
-			wpi::json json;
-			input >> json;
+			wpi::json json = wpi::json::parse(fileBuffer->begin(),
+					fileBuffer->end());
 
 			nodeSize = json.at("nodeSizeMeters").get<double>();
 			wpi::json::const_reference grid = json.at("grid");