From fdbf9e941d5d5c0f7da07c4a332718cbfa9a7aaa Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sat, 5 Mar 2022 14:13:05 -0700
Subject: [PATCH] Added table support

---
 .../frc4388/robot/subsystems/TestMotor.java   |  4 +-
 .../java/frc4388/utility/DesmosClient.html    | 38 ++++++++++++---
 .../java/frc4388/utility/DesmosServer.java    | 46 +++++++++++--------
 3 files changed, 61 insertions(+), 27 deletions(-)
diff --git a/src/main/java/frc4388/robot/subsystems/TestMotor.java b/src/main/java/frc4388/robot/subsystems/TestMotor.java
index a515943..c9501e2 100644
--- a/src/main/java/frc4388/robot/subsystems/TestMotor.java
+++ b/src/main/java/frc4388/robot/subsystems/TestMotor.java
@@ -17,7 +17,7 @@ public class TestMotor extends SubsystemBase {
     }
 
     public void testDesmos() {
-        DesmosServer.putDecimal("Position", m_testEncoder.getPosition());
-        m_testMotor.set(DesmosServer.readDouble("Speed"));
+        DesmosServer.putDouble("Position", m_testEncoder.getPosition());
+        // m_testMotor.set(DesmosServer.readDouble("Speed"));
     }
 }
diff --git a/src/main/java/frc4388/utility/DesmosClient.html b/src/main/java/frc4388/utility/DesmosClient.html
index 0f0fa8a..e84403b 100644
--- a/src/main/java/frc4388/utility/DesmosClient.html
+++ b/src/main/java/frc4388/utility/DesmosClient.html
@@ -7,11 +7,17 @@
     <body>
         <div id="calculator" style="width: 100wh; height: 100vh; position: absolute; top: 0; left: 0; right: 0; bottom: 0; overflow: hidden;"></div>
         <script>
+            const EXPRESSION_TYPES = {
+                'expression': ['integer', 'double', 'point', 'array'],
+                'note': ['note'],
+                'table': ['table']
+            };
+
             let elt = document.getElementById('calculator');
             let calculator = Desmos.GraphingCalculator(elt);
             // calculator.setExpression({ id: 'graph1', latex: 'y=x^2' });
 
-            let variables = [{'name': 'bob', 'value': '27'}];
+            let variables = [{'name': 'bob', 'type': 'integer', 'value': '27'}];
 
             let url = prompt("Robot URL", "localhost");
             let port = 8000;
@@ -36,8 +42,22 @@
                 variables = JSON.parse(this.responseText);
 
                 for(let variable of variables) {
-                    variable['lname'] = latexName(variable['name']);
-                    calculator.setExpression({ id: variable['name'], latex: variable['lname'] + '=' + variable['value']});
+                    switch(variable['type']) {
+                        case 'expression':
+                            variable['lname'] = latexName(variable['name']);
+                            calculator.setExpression({ id: variable['name'], latex: variable['lname'] + '=' + variable['value']});
+                            break;
+                        case 'table':
+                            let cols = [];
+                            for(let col of variable['value'].split('\t')) {
+                                let latex = latexName(col[0]);
+                            }
+
+                            calculator.setExpression({ type: 'table', id: variable['name'], columns: cols});
+                            break;
+                        default:
+                            console.log('Invalid type : ' + variable['type']);
+                    }
                 }
                 
                 setTimeout(requestVariables, 0);
@@ -71,10 +91,14 @@
             }
 
             function regularValue(lvalue) {
-                let value = lvalue.replace('\\left(', '');
-                value = lvalue.replace('\\right)', '');
-                value = lvalue.replace('\\left[', '');
-                value = lvalue.replace('\\right]', '');
+                let value = lvalue.replace('\\left(', '')
+                                .replace('\\right)', '')
+                                .replace('\\left[', '')
+                                .replace('\\right]', '')
+                                .replace('(', '')
+                                .replace(')', '')
+                                .replace('[', '')
+                                .replace(']', '');
                 return value;
             }
 
diff --git a/src/main/java/frc4388/utility/DesmosServer.java b/src/main/java/frc4388/utility/DesmosServer.java
index 6d67bc3..27c3eb0 100644
--- a/src/main/java/frc4388/utility/DesmosServer.java
+++ b/src/main/java/frc4388/utility/DesmosServer.java
@@ -18,8 +18,8 @@ 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> readVariables = new HashMap<>();
+    private static HashMap<String, String[]> desmosVariables = new HashMap<>();
+    private static HashMap<String, String[]> readVariables = new HashMap<>();
 
     private static boolean running = false;
     
@@ -101,7 +101,6 @@ public class DesmosServer extends Thread {
         }
         
         readVariables(body);
-
         sendResponse(client);
     }
 
@@ -145,7 +144,8 @@ public class DesmosServer extends Thread {
 	        for(String key : desmosVariables.keySet()) {
 	            json += "\n\t{"
 	                + "\"name\":\"" + key + "\","
-	                + "\"value\":\"" + desmosVariables.get(key) + "\""
+                    + "\"type\":\"" + desmosVariables.get(key)[0] + "\","
+	                + "\"value\":\"" + desmosVariables.get(key)[1] + "\""
 	                + "},";
 	        }
 	
@@ -157,16 +157,26 @@ public class DesmosServer extends Thread {
         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], readVar[1]);
+    		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;
     }
@@ -174,44 +184,44 @@ public class DesmosServer extends Thread {
     // ---------------------------------------------------------------------
 
     public static void putInteger(String name, Integer value) {        
-        desmosVariables.put(name, value.toString());
+        desmosVariables.put(name, new String[] {"integer", value.toString()});
     }
 
-    public static void putDecimal(String name, Double value) {
-        desmosVariables.put(name, value.toString());
+    public static void putDouble(String name, Double value) {
+        desmosVariables.put(name, new String[] {"double", value.toString()});
     }
 
     public static void putPoint(String name, Point point) {
-        desmosVariables.put(name, "(" + point.x + "," + point.y + ")");
+        desmosVariables.put(name, new String[] {"point", "(" + point.x + "," + point.y + ")"});
     }
     
     public static void putArray(String name, double... arr) {
-    	desmosVariables.put(name, Arrays.toString(arr).replace(" ", ""));
+    	desmosVariables.put(name, new String[] {"array", Arrays.toString(arr).replace(" ", "")});
     }
 
     // ---------------------------------------------------------------------
 
     public static int readInteger(String name) {
-        if(!readVariables.containsKey(name))
+        if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("integer"))
             return 0;
         
-        return Integer.parseInt(readVariables.get(name));
+        return Integer.parseInt(readVariables.get(name)[1]);
     }
 
     public static double readDouble(String name) {
-        if(!readVariables.containsKey(name))
+        if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("double"))
             return 0;
         
-        return Double.parseDouble(readVariables.get(name));
+        return Double.parseDouble(readVariables.get(name)[1]);
     }
 
     public static Point readPoint(String name) {
         Point point = new Point();
 
-        if(!readVariables.containsKey(name))
+        if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("point"))
             return point;
 
-        String pointStr = readVariables.get(name);
+        String pointStr = readVariables.get(name)[1];
         point.x = Double.parseDouble(pointStr.split(",")[0]);
         point.x = Double.parseDouble(pointStr.split(",")[1]);
 
@@ -219,10 +229,10 @@ public class DesmosServer extends Thread {
     }
     
     public static double[] readArray(String name) {
-        if(!readVariables.containsKey(name))
+        if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("array"))
             return new double[0];
 
-    	String[] unparsed = readVariables.get(name).split(",");
+    	String[] unparsed = readVariables.get(name)[1].split(",");
     	double[] arr = new double[unparsed.length];
     	
     	for(int i = 0; i < arr.length; i++)
