Resolved issue where closed instances cannot change control mode

Author: prak132

src/main/java/com/funkylogclient/Dashboard.java

@@ -535,30 +535,37 @@ private void updateControlsVisibility(HBox controls) {
     }
 
     private void setSimulationMode(String mode) {
+        if (!NetworkTablesClient.isConnected()) {
+            NetworkTablesClient.connect();
+            new Thread(() -> {
+                try {
+                    long start = System.currentTimeMillis();
+                    while (!NetworkTablesClient.isConnected() && (System.currentTimeMillis() - start) < 1200) {
+                        Thread.sleep(25);
+                    }
+                } catch (InterruptedException e) {
+                    Thread.currentThread().interrupt();
+                }
+                writeSimulationMode(mode);
+            }, "FunkyLog-SetSimMode").start();
+        } else {
+            writeSimulationMode(mode);
+        }
+    }
+
+    private void writeSimulationMode(String mode) {
         try {
             NetworkTableInstance instance = NetworkTableInstance.getDefault();
-            if (instance == null) {
-                return;
-            }
-
-            int modeValue = 0;
-            if (mode.equals("disabled")) {
-                modeValue = 0;
-            } else if (mode.equals("teleop")) {
-                modeValue = 1;
-            } else if (mode.equals("auto")) {
-                modeValue = 2;
-            } else if (mode.equals("test")) {
-                modeValue = 3;
-            }
+            if (instance == null) return;
 
             NetworkTable funkyFMSTable = instance.getTable("FunkyFMS");
-            if (funkyFMSTable != null) {
-                System.out.println("FunkyLogs: Setting simulation controlMode to " + modeValue + " (" + mode + ")");
-                NetworkTableEntry controlModeEntry = funkyFMSTable.getEntry("controlMode");
-                controlModeEntry.setInteger(modeValue);
-                instance.flush();
-            }
+            if (funkyFMSTable == null) return;
+            long controlMode = 0;
+            if ("teleop".equals(mode)) controlMode = 1;
+            else if ("auto".equals(mode)) controlMode = 2;
+            else if ("test".equals(mode)) controlMode = 3;
+            funkyFMSTable.getEntry("controlMode").setDouble((double) controlMode);
+            instance.flush();
         } catch (Exception e) {
             System.err.println("Error setting simulation mode: " + e.getMessage());
         }
@@ -590,33 +597,23 @@ private void updateSimulationButtons(Button[] buttons, String[] currentMode, HBo
                     return;
                 }
 
-                NetworkTable fmsTable = instance.getTable("FMSInfo");
-                if (fmsTable == null) {
+                NetworkTable funkyFMS = instance.getTable("FunkyFMS");
+                if (funkyFMS == null) {
                     return;
                 }
 
-                NetworkTableEntry fmsControlDataEntry = fmsTable.getEntry("FMSControlData");
-                String mode = "disabled";
-
-                if (fmsControlDataEntry != null && fmsControlDataEntry.exists()) {
-                    Number modeValueNumber = fmsControlDataEntry.getNumber(32.0);
-                    int modeValue = modeValueNumber.intValue();
-
-                    boolean isEnabled = (modeValue & 1) != 0;
-                    boolean isAuto = (modeValue & 2) != 0;
-                    boolean isTest = (modeValue & 4) != 0;
-
-                    if (!isEnabled) {
-                        mode = "disabled";
-                    } else if (isTest) {
-                        mode = "test";
-                    } else if (isAuto) {
-                        mode = "auto";
-                    } else {
-                        mode = "teleop";
-                    }
+                NetworkTableEntry controlModeEntry = funkyFMS.getEntry("controlMode");
+                long cm = 0;
+                if (controlModeEntry != null) {
+                    cm = (long) controlModeEntry.getDouble(0.0);
                 }
 
+                String mode;
+                if (cm == 1) mode = "teleop";
+                else if (cm == 2) mode = "auto";
+                else if (cm == 3) mode = "test";
+                else mode = "disabled";
+
                 final String finalMode = mode;
                 Platform.runLater(() -> {
                     String baseStyle = "-fx-font-size: 11px; " +

src/main/java/com/funkylogclient/FieldViewWidget.java

@@ -351,12 +351,6 @@ private void redrawDynamicContent() {
 
         double[] trajA = fieldObjects.get("trajA");
         double[] trajB = fieldObjects.get("trajB");
-        if (trajA != null && trajA.length >= 2) {
-            System.out.println("trajA: " + java.util.Arrays.toString(trajA));
-        }
-        if (trajB != null && trajB.length >= 2) {
-            System.out.println("trajB: " + java.util.Arrays.toString(trajB));
-        }
         if (trajA != null && trajA.length >= 2 && trajB != null && trajB.length >= 2) {
             double x1 = offsetX + ((trajA[0] + POSITION_OFFSET_X_M) / FIELD_LENGTH) * displayWidth;
             double y1 = offsetY + displayHeight - ((trajA[1] + POSITION_OFFSET_Y_M) / FIELD_WIDTH) * displayHeight;

src/main/java/com/funkylogclient/FunkyLogs.java

@@ -248,8 +248,7 @@ public ListCell<Message> call(ListView<Message> listView) {
             if (dashboard != null) {
                 dashboard.shutdown();
             }
-            SidebarNetworkTablesChooser.shutdown();
-            SidebarJoystickInput.shutdown();
+            shutDownInstances();
             System.exit(0);
         });
         primaryStage.show();
@@ -673,8 +672,6 @@ private HBox createUtilityBar(Stage primaryStage) {
             if (dashboard != null) {
                 dashboard.shutdown();
             }
-            SidebarNetworkTablesChooser.shutdown();
-            SidebarJoystickInput.shutdown();
             animateClose(primaryStage);
         });
         Button minimizeButton = createWindowsButton("—", false, () -> animateMinimize(primaryStage));
@@ -1099,16 +1096,17 @@ private void animateClose(Stage stage) {
 
         ParallelTransition closeAnim = new ParallelTransition(fadeOut, scaleDown);
         closeAnim.setOnFinished(e -> {
-            if (dashboard != null) {
-                dashboard.shutdown();
-            }
-            SidebarNetworkTablesChooser.shutdown();
-            SidebarJoystickInput.shutdown();
+            shutDownInstances();
             System.exit(0);
         });
         closeAnim.play();
     }
 
+    private static void shutDownInstances() {
+        SidebarNetworkTablesChooser.shutdown();
+        SidebarJoystickInput.shutdown();
+    }
+
     public static void main(String[] args) {
         launch(args);
     }

src/main/java/com/funkylogclient/NetworkTablesClient.java

@@ -103,6 +103,8 @@ private static void startMonitoring() {
                 return;
 
             try {
+                if (ntInstance == null)
+                    return;
                 boolean isConnected = ntInstance.isConnected();
 
                 if (isConnected && ntInstance != null) {

src/main/java/com/funkylogclient/SimDriverStationInput.java

@@ -346,13 +346,14 @@ private boolean isTeleop() {
             if (!NetworkTablesClient.isConnected()) return false;
             NetworkTableInstance instance = NetworkTableInstance.getDefault();
             if (instance == null) return false;
-            NetworkTable fmsTable = instance.getTable("FMSInfo");
-            if (fmsTable == null) return false;
-            NetworkTableEntry entry = fmsTable.getEntry("FMSControlData");
-            if (entry == null || !entry.exists()) return false;
-            Number n = entry.getNumber(32.0);
-            int mode = n.intValue();
-            return mode == 33;
+            NetworkTable funkyFMS = instance.getTable("FunkyFMS");
+            if (funkyFMS == null) return false;
+            NetworkTableEntry modeEntry = funkyFMS.getEntry("controlMode");
+            long mode = 0;
+            if (modeEntry != null) {
+                mode = (long) modeEntry.getDouble(0.0);
+            }
+            return mode == 1;
         } catch (Exception e) {
             return false;
         }