Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-08 16:28:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

Table fix, type safety, and queue

Browse Source
This commit is contained in:
66945
2022-03-05 22:27:47 -07:00
parent 211edb77b6
commit 82d7159d22
4 changed files with 159 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
simgui-ds.json
+92
View File
@@ -0,0 +1,92 @@
{
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
]
}
simgui.json
+15
View File
@@ -0,0 +1,15 @@
{
"NTProvider": {
"types": {
"/FMSInfo": "FMSInfo",
"/LiveWindow/LED": "Subsystem",
"/LiveWindow/TestMotor": "Subsystem",
"/LiveWindow/Ungrouped/Scheduler": "Scheduler"
}
},
"NetworkTables": {
"SmartDashboard": {
"open": true
}
}
}
src/main/java/frc4388/utility/DesmosClient.html
+29 -23
View File
@@ -42,55 +42,59 @@
variables = JSON.parse(this.responseText);
for(let variable of variables) {
console.log();
if(EXPRESSION_TYPES['expression'].includes(variable['type'])) {
variable['lname'] = latexName(variable['name']);
calculator.setExpression({ id: variable['name'], latex: variable['lname'] + '=' + variable['value']});
} else if(EXPRESSION_TYPES['table'].includes(variable['type'])) {
let cols = [];
for(let col of variable['value'].split('\s')) {
col = col.split(',');
let latexStr = latexName(col[0]);
let valuesArr = col.slice(1, col.length);
cols.push({ latex: latexStr, values: valuesArr });
}
let cols = getColumns(variable['value'].split(' '));
calculator.setExpression({ type: 'table', id: variable['name'], columns: cols});
break;
} else {
console.log('Invalid type : ' + variable['type']);
}
} else
console.log('Invalid input type : ' + variable['type']);
}
setTimeout(requestVariables, 0);
}
function getColumns(unparsedCols) {
let cols = [];
for(let col of unparsedCols) {
col = col.split(',');
let latexStr = latexName(col[0]);
let valuesArr = col.slice(1, col.length);
cols.push({ latex: latexStr, values: valuesArr });
}
return cols;
}
function getVariables() {
let vars = [];
let expressions = calculator.getExpressions();
for(expression of expressions) {
if(expression['type'] === 'expression') {
readVariable(expression['latex']);
} else {
console.log('Invalid type : ' + expression['type']);
}
if(expression['type'] === 'expression')
vars = readVariable(expression['latex']);
else
console.log('Invalid output type : ' + expression['type']);
}
return vars;
}
function readVariable(latex) {
let lname = expression['latex'].split('=')[0];
let lvalue = expression['latex'].split('=')[1];
let vars = [];
let lname = latex.split('=')[0];
let lvalue = latex.split('=')[1];
if(lname && lname != '' && lvalue && lvalue != '') {
let name = regularName(lname);
let value = regularValue(lvalue);
vars.push({"name": name, "value": value});
vars.push({"name": name, "type": "expression", "value": value});
}
return vars;
}
function latexName(name) {
@@ -117,7 +121,9 @@
let stringified = '';
for(let variable of vars) {
stringified += variable['name'] + '\t' + variable['value'] + '\n';
stringified += variable['name'] + '\t'
+ variable['type'] + '\t'
+ variable['value'] + '\n';
}
return stringified;
src/main/java/frc4388/utility/DesmosServer.java
+23 -20
View File
@@ -9,6 +9,8 @@ import java.net.Socket;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Set;
import org.opencv.core.Point;
@@ -18,7 +20,7 @@ import org.opencv.core.Point;
* @author Daniel McGrath
* */
public class DesmosServer extends Thread {
private static HashMap<String, String[]> desmosVariables = new HashMap<>();
private static HashMap<String, String[]> desmosQueue = new HashMap<>();
private static HashMap<String, String[]> readVariables = new HashMap<>();
private static boolean running = false;
@@ -42,7 +44,7 @@ public class DesmosServer extends Thread {
* Creates DesmosServer running on port 5500
* */
public DesmosServer() {
activePort = 5500;
activePort = 8000;
}
@Override
@@ -77,7 +79,7 @@ public class DesmosServer extends Thread {
/**
* Handles client requests
*
* @param The client connection
* @param client The client connection
* @throws IOException
* */
public void handleClient(Socket client) throws IOException {
@@ -114,7 +116,7 @@ public class DesmosServer extends Thread {
* {"list": "[2,4]"}
* ]
*
* @param The client connection
* @param client The client connection
* @throws IOException
* */
public void sendResponse(Socket client) throws IOException {
@@ -140,13 +142,17 @@ public class DesmosServer extends Thread {
public static String getJSONOutput() {
String json = "[";
if(!desmosVariables.isEmpty()) {
for(String key : desmosVariables.keySet()) {
if(!desmosQueue.isEmpty()) {
Set<String> keySet = new HashSet<>(desmosQueue.keySet());
for(String key : keySet) {
json += "\n\t{"
+ "\"name\":\"" + key + "\","
+ "\"type\":\"" + desmosVariables.get(key)[0] + "\","
+ "\"value\":\"" + desmosVariables.get(key)[1] + "\""
+ "\"type\":\"" + desmosQueue.get(key)[0] + "\","
+ "\"value\":\"" + desmosQueue.get(key)[1] + "\""
+ "},";
desmosQueue.remove(key);
}
json = json.substring(0, json.length()-1); // remove comma at the end
@@ -184,32 +190,29 @@ public class DesmosServer extends Thread {
// ---------------------------------------------------------------------
public static void putInteger(String name, Integer value) {
desmosVariables.put(name, new String[] {"integer", value.toString()});
desmosQueue.put(name, new String[] {"integer", value.toString()});
}
public static void putDouble(String name, Double value) {
desmosVariables.put(name, new String[] {"double", value.toString()});
desmosQueue.put(name, new String[] {"double", value.toString()});
}
public static void putPoint(String name, Point point) {
desmosVariables.put(name, new String[] {"point", "(" + point.x + "," + point.y + ")"});
desmosQueue.put(name, new String[] {"point", "(" + point.x + "," + point.y + ")"});
}
public static void putArray(String name, double... arr) {
desmosVariables.put(name, new String[] {"array", Arrays.toString(arr).replace(" ", "")});
desmosQueue.put(name, new String[] {"array", Arrays.toString(arr).replace(" ", "")});
}
public static void putTable(String name, Object... table) {
// Check parameters
for(int i = 0; i < table.length; i += 2)
if(!(table[i] instanceof String)) { return; }
for(int i = 1; i < table.length; i += 2)
if(!(table[i] instanceof double[])) { return; }
String tableStr = "";
for(int i = 0; i < table.length; i += 2) {
// Check parameters
if(!(table[i] instanceof String)) { return; }
if(!(table[i+1] instanceof double[])) { return; }
tableStr += table[i] + ",";
String values = Arrays.toString((double[]) table[i+1]).replace(" ", "");
tableStr += values.substring(1, values.length() - 1);
@@ -218,7 +221,7 @@ public class DesmosServer extends Thread {
tableStr = tableStr.substring(0, tableStr.length()-1); // remove space at the end
desmosVariables.put(name, new String[] {"table", tableStr});
desmosQueue.put(name, new String[] {"table", tableStr});
}
// ---------------------------------------------------------------------