Table fix, type safety, and queue

simgui-ds.json

@@ -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

@@ -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

@@ -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 = [];
+                        let cols = getColumns(variable['value'].split(' '));
-                        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 });
-                        }
-
                         calculator.setExpression({ type: 'table', id: variable['name'], columns: cols});
-                        break;
+                    } else
-                    } else {
+                        console.log('Invalid input type : ' + variable['type']);
-                        console.log('Invalid 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') {
+                    if(expression['type'] === 'expression')
-                        readVariable(expression['latex']);
+                        vars = readVariable(expression['latex']);
-                    } else {
+                    else
-                        console.log('Invalid type : ' + expression['type']);
+                        console.log('Invalid output type : ' + expression['type']);
-                    }
                 }
 
                 return vars;
             }
 
             function readVariable(latex) {
-                let lname = expression['latex'].split('=')[0];
+                let vars = [];
-                let lvalue = expression['latex'].split('=')[1];
+                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

@@ -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()) {
+        if(!desmosQueue.isEmpty()) {
-	        for(String key : desmosVariables.keySet()) {
+            Set<String> keySet = new HashSet<>(desmosQueue.keySet());
+
+	        for(String key : keySet) {
 	            json += "\n\t{"
 	                + "\"name\":\"" + key + "\","
-                    + "\"type\":\"" + desmosVariables.get(key)[0] + "\","
+                    + "\"type\":\"" + desmosQueue.get(key)[0] + "\","
-	                + "\"value\":\"" + desmosVariables.get(key)[1] + "\""
+	                + "\"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});
     }
 
     // ---------------------------------------------------------------------