From 8e13b5c69f4d069042f56232dd88b0b1123de316 Mon Sep 17 00:00:00 2001 From: 66945 <54561572+66945@users.noreply.github.com> Date: Sun, 13 Mar 2022 17:11:59 -0600 Subject: [PATCH] Added desmos server --- src/main/java/frc4388/robot/Robot.java | 5 + .../java/frc4388/utility/DesmosClient.html | 222 +++++++++++++ .../java/frc4388/utility/DesmosServer.java | 314 ++++++++++++++++++ 3 files changed, 541 insertions(+) create mode 100644 src/main/java/frc4388/utility/DesmosClient.html create mode 100644 src/main/java/frc4388/utility/DesmosServer.java diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index d04fae9..ddee6d5 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.RunCommand; +import frc4388.utility.DesmosServer; import frc4388.utility.RobotTime; import frc4388.utility.VelocityCorrection; @@ -46,6 +47,8 @@ public class Robot extends TimedRobot { private Pose2d selectedOdo; private double current; + private static DesmosServer desmosServer = new DesmosServer(8000); + /** * This function is run when the robot is first started up and should be * used for any initialization code. @@ -116,6 +119,8 @@ public class Robot extends TimedRobot { return "Not Running"; } }); + + desmosServer.start(); } /** diff --git a/src/main/java/frc4388/utility/DesmosClient.html b/src/main/java/frc4388/utility/DesmosClient.html new file mode 100644 index 0000000..7eaef15 --- /dev/null +++ b/src/main/java/frc4388/utility/DesmosClient.html @@ -0,0 +1,222 @@ + + + + + + Desmos Client + + +
+
Active
+ + + diff --git a/src/main/java/frc4388/utility/DesmosServer.java b/src/main/java/frc4388/utility/DesmosServer.java new file mode 100644 index 0000000..2c743cd --- /dev/null +++ b/src/main/java/frc4388/utility/DesmosServer.java @@ -0,0 +1,314 @@ +package frc4388.utility; + +import java.io.BufferedReader; +import java.io.IOException; +import java.io.InputStreamReader; +import java.io.OutputStream; +import java.net.ServerSocket; +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; + +/** + * A http server that allows the robot to communicate with Desmos Graphing Calculator + * + * @author Daniel McGrath + * */ +public class DesmosServer extends Thread { + private static HashMap desmosQueue = new HashMap<>(); + private static HashMap readVariables = new HashMap<>(); + + private static boolean running = false; + + private ServerSocket serverSocket; + private int activePort; + + /** + * Creates DesmosServer running on port + *

+ * Use this for cases when the robot is using the default port + * + * @param port The port the server will run on + * */ + public DesmosServer(int port) { + activePort = port; + } + + /** + * Creates DesmosServer running on port 5500 + * */ + public DesmosServer() { + activePort = 8000; + } + + @Override + public void run() { + try { + runServer(activePort); + } catch(IOException err) { + err.printStackTrace(); + } + } + + /** + * Runs server on port + * + * @param port The port the server runs on + * @throws IOException + * */ + public void runServer(int port) throws IOException { + System.out.println("Initializing DesmosServer on port " + port + "..."); + + serverSocket = new ServerSocket(port); + running = true; + + System.out.println("DesmosServer is active!"); + + while(true) { + Socket client = serverSocket.accept(); + handleClient(client); + } + } + + /** + * Handles client requests + * + * @param client The client connection + * @throws IOException + * */ + public void handleClient(Socket client) throws IOException { + InputStreamReader clientStream = new InputStreamReader(client.getInputStream()); + BufferedReader bufferedReader = new BufferedReader(clientStream); + + ArrayList headers = new ArrayList<>(); + + String header; + while((header = bufferedReader.readLine()).length() != 0) { + headers.add(header); + } + + String body = ""; + while(bufferedReader.ready()) { + body += (char) bufferedReader.read(); + } + + readVariables(body); + sendResponse(client); + } + + /** + * Sends JSON response with format + *

+ * [ + * {"int": "24"}, + * {"double": "2.4"}, + * {"point": "(2,4)"}, + * {"list": "[2,4]"} + * ] + * + * @param client The client connection + * @throws IOException + * */ + public void sendResponse(Socket client) throws IOException { + OutputStream clientOutput = client.getOutputStream(); + + // Write Headers + clientOutput.write("HTTP/1.1 200 OK\r\n".getBytes()); + clientOutput.write("Access-Control-Allow-Origin: *\r\n".getBytes()); + clientOutput.write("Keep-Alive: timeout=2, max=100\r\n".getBytes()); + clientOutput.write("Connection: Keep-Alive\r\n".getBytes()); + clientOutput.write("Content-Type: application/json\r\n\r\n".getBytes()); + + clientOutput.write(getJSONOutput().getBytes()); + clientOutput.flush(); + clientOutput.close(); + } + + /** + * Produces JSON output containing Desmos output. + * + * @return JSON string to be read by Desmos client + * */ + public static String getJSONOutput() { + String json = "["; + + if(!desmosQueue.isEmpty()) { + Set keySet = new HashSet<>(desmosQueue.keySet()); + + for(String key : keySet) { + json += "\n\t{" + + "\"name\":\"" + key + "\"," + + "\"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 + } + + json += "\n]"; + + return json; + } + + /** + * Interpret client request and update variables + * + * @param requestBody Client request + */ + public static void readVariables(String requestBody) { + for(String variable : requestBody.split("\n")) { + if(variable.equals("")) + break; + + String[] readVar = variable.split("\t"); + readVariables.put(readVar[0], new String[] {readVar[1], readVar[2]}); + } + } + + /** + * Checks if the server is running + * + * @return The server status + */ + public static boolean isRunning() { + return running; + } + + // --------------------------------------------------------------------- + + /** + * Adds integer to desmos queue + * + * @param name Name of desmos variable + * @param value Integer value + * */ + public static void putInteger(String name, Integer value) { + desmosQueue.put(name, new String[] {"number", value.toString()}); + } + + /** + * Adds double to desmos queue + * + * @param name Name of desmos variable + * @param value Double value + * */ + public static void putDouble(String name, Double value) { + desmosQueue.put(name, new String[] {"number", value.toString()}); + } + + /** + * Adds point to desmos queue + * + * @param name Name of desmos variable + * @param value Point value + * */ + public static void putPoint(String name, Point point) { + desmosQueue.put(name, new String[] {"point", "(" + point.x + "," + point.y + ")"}); + } + + public static void putArray(String name, double... arr) { + desmosQueue.put(name, new String[] {"array", Arrays.toString(arr).replace(" ", "")}); + } + + /** + * Adds table to desmos queue + * + * @param name ID of table + * @param id Column ID + * @param column Double array containing column values + * @param table Repeat id and column in sequence + * */ + public static void putTable(String name, Object... table) { + 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); + tableStr += ' '; + } + + tableStr = tableStr.substring(0, tableStr.length()-1); // remove space at the end + + desmosQueue.put(name, new String[] {"table", tableStr}); + } + + // --------------------------------------------------------------------- + + /** + * Reads desmos integer + * + * @param name Desmos variable name + * @return Numeric value, if variable is an expression it will be evaluated + *

if variable is a double it will be cast to int + * */ + public static int readInteger(String name) { + if(!readVariables.containsKey(name) || !readVariables.get(name)[0].equals("number")) + return 0; + + return (int) Double.parseDouble(readVariables.get(name)[1]); + } + + /** + * Reads desmos double + * + * @param name Desmos variable name + * @return Numeric value, if variable is an expression it will be evaluated + * */ + public static double readDouble(String name) { + if(!readVariables.containsKey(name) || !readVariables.get(name)[0].equals("number")) + return 0; + + return Double.parseDouble(readVariables.get(name)[1]); + } + + /** + * Reads desmos point + * + * @param name Desmos variable name + * @return Point, if variable contains expressions they will be evaluated + * */ + public static Point readPoint(String name) { + Point point = new Point(); + + if(!readVariables.containsKey(name) || !readVariables.get(name)[0].equals("point")) + return point; + + String pointStr = readVariables.get(name)[1]; + point.x = Double.parseDouble(pointStr.split(",")[0]); + point.y = Double.parseDouble(pointStr.split(",")[1]); + + return point; + } + + /** + * Reads desmos array, including table columns + * + * @param name Desmos variable name + * @returns Array of numeric values, if array contains expressions they will be evaluated + * */ + public static double[] readArray(String name) { + if(!readVariables.containsKey(name) || !readVariables.get(name)[0].equals("array")) + return new double[0]; + + String[] unparsed = readVariables.get(name)[1].split(","); + double[] arr = new double[unparsed.length]; + + for(int i = 0; i < arr.length; i++) + arr[i] = Integer.parseInt(unparsed[i]); + + return arr; + } +}