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Added table support

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This commit is contained in:
aarav18
2022-03-05 14:13:05 -07:00
parent a0ccfc3f66
commit fdbf9e941d
3 changed files with 61 additions and 27 deletions
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src/main/java/frc4388/robot/subsystems/TestMotor.java
+2 -2
View File
@@ -17,7 +17,7 @@ public class TestMotor extends SubsystemBase {
} }
public void testDesmos() { public void testDesmos() {
DesmosServer.putDecimal("Position", m_testEncoder.getPosition()); DesmosServer.putDouble("Position", m_testEncoder.getPosition());
m_testMotor.set(DesmosServer.readDouble("Speed")); // m_testMotor.set(DesmosServer.readDouble("Speed"));
} }
} }
src/main/java/frc4388/utility/DesmosClient.html
+31 -7
View File
@@ -7,11 +7,17 @@
<body> <body>
<div id="calculator" style="width: 100wh; height: 100vh; position: absolute; top: 0; left: 0; right: 0; bottom: 0; overflow: hidden;"></div> <div id="calculator" style="width: 100wh; height: 100vh; position: absolute; top: 0; left: 0; right: 0; bottom: 0; overflow: hidden;"></div>
<script> <script>
const EXPRESSION_TYPES = {
'expression': ['integer', 'double', 'point', 'array'],
'note': ['note'],
'table': ['table']
};
let elt = document.getElementById('calculator'); let elt = document.getElementById('calculator');
let calculator = Desmos.GraphingCalculator(elt); let calculator = Desmos.GraphingCalculator(elt);
// calculator.setExpression({ id: 'graph1', latex: 'y=x^2' }); // 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 url = prompt("Robot URL", "localhost");
let port = 8000; let port = 8000;
@@ -36,8 +42,22 @@
variables = JSON.parse(this.responseText); variables = JSON.parse(this.responseText);
for(let variable of variables) { for(let variable of variables) {
variable['lname'] = latexName(variable['name']); switch(variable['type']) {
calculator.setExpression({ id: variable['name'], latex: variable['lname'] + '=' + variable['value']}); 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); setTimeout(requestVariables, 0);
@@ -71,10 +91,14 @@
} }
function regularValue(lvalue) { function regularValue(lvalue) {
let value = lvalue.replace('\\left(', ''); let value = lvalue.replace('\\left(', '')
value = lvalue.replace('\\right)', ''); .replace('\\right)', '')
value = lvalue.replace('\\left[', ''); .replace('\\left[', '')
value = lvalue.replace('\\right]', ''); .replace('\\right]', '')
.replace('(', '')
.replace(')', '')
.replace('[', '')
.replace(']', '');
return value; return value;
} }
src/main/java/frc4388/utility/DesmosServer.java
+28 -18
View File
@@ -18,8 +18,8 @@ import org.opencv.core.Point;
* @author Daniel McGrath * @author Daniel McGrath
* */ * */
public class DesmosServer extends Thread { public class DesmosServer extends Thread {
private static HashMap<String, String> desmosVariables = new HashMap<>(); private static HashMap<String, String[]> desmosVariables = new HashMap<>();
private static HashMap<String, String> readVariables = new HashMap<>(); private static HashMap<String, String[]> readVariables = new HashMap<>();
private static boolean running = false; private static boolean running = false;
@@ -101,7 +101,6 @@ public class DesmosServer extends Thread {
} }
readVariables(body); readVariables(body);
sendResponse(client); sendResponse(client);
} }
@@ -145,7 +144,8 @@ public class DesmosServer extends Thread {
for(String key : desmosVariables.keySet()) { for(String key : desmosVariables.keySet()) {
json += "\n\t{" json += "\n\t{"
+ "\"name\":\"" + key + "\"," + "\"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; return json;
} }
/**
* Interpret client request and update variables
*
* @param requestBody Client request
*/
public static void readVariables(String requestBody) { public static void readVariables(String requestBody) {
for(String variable : requestBody.split("\n")) { for(String variable : requestBody.split("\n")) {
if(variable.equals("")) if(variable.equals(""))
break; break;
String[] readVar = variable.split("\t"); 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() { public static boolean isRunning() {
return running; return running;
} }
@@ -174,44 +184,44 @@ public class DesmosServer extends Thread {
// --------------------------------------------------------------------- // ---------------------------------------------------------------------
public static void putInteger(String name, Integer value) { 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) { public static void putDouble(String name, Double value) {
desmosVariables.put(name, value.toString()); desmosVariables.put(name, new String[] {"double", value.toString()});
} }
public static void putPoint(String name, Point point) { 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) { 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) { public static int readInteger(String name) {
if(!readVariables.containsKey(name)) if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("integer"))
return 0; return 0;
return Integer.parseInt(readVariables.get(name)); return Integer.parseInt(readVariables.get(name)[1]);
} }
public static double readDouble(String name) { public static double readDouble(String name) {
if(!readVariables.containsKey(name)) if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("double"))
return 0; return 0;
return Double.parseDouble(readVariables.get(name)); return Double.parseDouble(readVariables.get(name)[1]);
} }
public static Point readPoint(String name) { public static Point readPoint(String name) {
Point point = new Point(); Point point = new Point();
if(!readVariables.containsKey(name)) if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("point"))
return 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(",")[0]);
point.x = Double.parseDouble(pointStr.split(",")[1]); point.x = Double.parseDouble(pointStr.split(",")[1]);
@@ -219,10 +229,10 @@ public class DesmosServer extends Thread {
} }
public static double[] readArray(String name) { public static double[] readArray(String name) {
if(!readVariables.containsKey(name)) if(!readVariables.containsKey(name) && !readVariables.get(name)[0].equals("array"))
return new double[0]; return new double[0];
String[] unparsed = readVariables.get(name).split(","); String[] unparsed = readVariables.get(name)[1].split(",");
double[] arr = new double[unparsed.length]; double[] arr = new double[unparsed.length];
for(int i = 0; i < arr.length; i++) for(int i = 0; i < arr.length; i++)