Added save and load nested Nodes

src/main/java/com/marginallyclever/ro3/actions/LoadScene.java

@@ -4,14 +4,18 @@
 import com.marginallyclever.ro3.Registry;
 import com.marginallyclever.ro3.node.Node;
 import com.marginallyclever.robotoverlord.RobotOverlord;
+import org.json.JSONObject;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
 import javax.swing.*;
 import java.awt.*;
 import java.awt.event.ActionEvent;
+import java.io.BufferedReader;
 import java.io.File;
 import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
 
 public class LoadScene extends AbstractAction {
     private static final JFileChooser chooser = new JFileChooser();
@@ -39,14 +43,12 @@ public void actionPerformed(ActionEvent e) {
 
     private void loadAsNewScene(File selectedFile) {
         logger.info("Load scene from {}",selectedFile.getAbsolutePath());
-        logger.error("Load Scene not implemented yet.");
-
-        // Create an ObjectMapper instance
-        ObjectMapper mapper = new ObjectMapper();
 
         try {
-            // Read the JSON file and convert it into a Node object
-            Node loaded = mapper.readValue(selectedFile, Node.class);
+            String content = new String(Files.readAllBytes(Paths.get(selectedFile.getAbsolutePath())));
+            JSONObject json = new JSONObject(content);
+            Node loaded = new Node("Scene");
+            loaded.fromJSON(json);
             Registry.setScene(loaded);
         } catch (IOException e) {
             logger.error("Error loading scene from JSON", e);

src/main/java/com/marginallyclever/ro3/actions/SaveScene.java

@@ -9,7 +9,9 @@
 import javax.swing.*;
 import java.awt.*;
 import java.awt.event.ActionEvent;
+import java.io.BufferedWriter;
 import java.io.File;
+import java.io.FileWriter;
 import java.io.IOException;
 
 public class SaveScene extends AbstractAction {
@@ -53,12 +55,8 @@ public void actionPerformed(ActionEvent e) {
     private void saveScene(String absolutePath) {
         logger.info("Save scene to {}",absolutePath);
 
-        // Create an ObjectMapper instance
-        ObjectMapper mapper = new ObjectMapper();
-
-        try {
-            // Write the Registry.scene to a JSON file
-            mapper.writeValue(new File(absolutePath), Registry.getScene());
+        try (BufferedWriter writer = new BufferedWriter(new FileWriter(absolutePath))) {
+            writer.write(Registry.getScene().toJSON().toString());
         } catch (IOException e) {
             logger.error("Error saving scene to JSON", e);
         }

src/main/java/com/marginallyclever/ro3/node/Node.java

@@ -3,6 +3,7 @@
 import com.marginallyclever.ro3.Registry;
 import com.marginallyclever.ro3.node.nodes.Pose;
 import com.marginallyclever.robotoverlord.swing.CollapsiblePanel;
+import org.json.JSONArray;
 import org.json.JSONObject;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -44,11 +45,11 @@ public void addChild(Node child) {
         if(child.children.isEmpty()) {
             fireReadyEvent(child);
             child.onReady();
-        } else {
+        }/* else {
             for(Node grandchild : child.children) {
                 child.addChild(grandchild);
             }
-        }
+        }*/
     }
 
     private void fireReadyEvent(Node child) {
@@ -357,12 +358,16 @@ public <T extends Node> T findFirstSibling(Class<T> type) {
      * @return the JSON object.
      */
     public JSONObject toJSON() {
-        logger.info("Saving node {}.",getAbsolutePath());
+        logger.info("Saving {}.",getAbsolutePath());
         JSONObject json = new JSONObject();
         json.put("type",getClass().getSimpleName());
         json.put("name",name);
         json.put("nodeID",nodeID.toString());
-        json.put("children",children);
+        JSONArray childrenArray = new JSONArray();
+        for (Node child : this.children) {
+            childrenArray.put(child.toJSON());
+        }
+        json.put("children",childrenArray);
         return json;
     }
 
@@ -374,7 +379,6 @@ public JSONObject toJSON() {
      */
     public void fromJSON(JSONObject from) {
         name = from.getString("name");
-        logger.info("Loading node {}.",name);
         nodeID = UUID.fromString(from.getString("nodeID"));
         children.clear();
         for (Object o : from.getJSONArray("children")) {

src/main/java/com/marginallyclever/ro3/node/nodetreeview/NodeTreeView.java

@@ -16,6 +16,7 @@
 import javax.swing.tree.*;
 import java.awt.*;
 import java.awt.event.ActionEvent;
+import java.security.InvalidParameterException;
 import java.util.*;
 import java.util.List;
 import java.util.function.Supplier;
@@ -97,15 +98,20 @@ private void stopListeningTo(Node node) {
 
     /**
      * Scan the tree for existing nodes.
-     * @param parent the node to scan
+     * @param toScan the node to scan
      */
-    public void scanTree(Node parent) {
-        if(parent == null) return;
-        NodeTreeBranch parentBranch = findTreeNode(parent);
-        if(parentBranch == null) return;
+    public void scanTree(Node toScan) {
+        if(toScan == null) throw new InvalidParameterException("node is null");
+        logger.info("Scanning "+toScan.getAbsolutePath());
+
+        NodeTreeBranch parentBranch = findTreeNode(toScan);
+        if(parentBranch == null) {
+            logger.error("node has no branch");
+            return;
+        }
 
-        for (Node child : parent.getChildren()) {
-            logger.debug("scanTree "+parent.getAbsolutePath()+" has child "+child.getAbsolutePath());
+        for (Node child : toScan.getChildren()) {
+            logger.debug("node has child "+child.getAbsolutePath());
             nodeAttached(child);
         }
     }
@@ -249,7 +255,7 @@ public void beforeSceneChange(Node oldScene) {
     public void afterSceneChange(Node newScene) {
         logger.debug("afterSceneChange");
         listenTo(newScene);
-        treeModel.removeAllChildren();
+        treeModel.setUserObject(newScene);
         ((DefaultTreeModel) tree.getModel()).nodeStructureChanged(treeModel.getRoot());
         scanTree(newScene);
     }