[glass] Add math expression input for NetworkTables numerical values

glass/src/lib/native/cpp/support/ExpressionParser.cpp

@@ -0,0 +1,349 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "glass/support/ExpressionParser.h"
+
+#include <cctype>
+#include <cmath>
+#include <stack>
+#include <string>
+
+#include <imgui.h>
+
+namespace glass::expression {
+
+template <typename V>
+ParseResult<V> ParseResult<V>::CreateSuccess(V value) {
+  ParseResult<V> result;
+  result.kind = ParseResultKind::Success;
+  result.successVal = value;
+  return result;
+}
+
+template <typename V>
+ParseResult<V> ParseResult<V>::CreateError(const char* errorMessage) {
+  ParseResult<V> result;
+  result.kind = ParseResultKind::Error;
+  result.errorMessage = errorMessage;
+  return result;
+}
+
+enum class TokenType {
+  Number,
+  Add,
+  Subtract,
+  Multiply,
+  Divide,
+  Exponent,
+  OpenParen,
+  CloseParen,
+
+  End,    // Hit end of input
+  Error,  // Invalid character found
+};
+
+struct Token {
+  TokenType type;
+  const char* str;
+  int strLen;
+
+  explicit Token(TokenType type) : type(type), str(nullptr), strLen(0) {}
+
+  Token(TokenType type, const char* str, int strLen)
+      : type(type), str(str), strLen(strLen) {}
+};
+
+class Lexer {
+ public:
+  explicit Lexer(const char* input) : input(input) {}
+
+  Token NextToken() {
+    // Skip leading whitespace
+    startIdx = currentIdx;
+    while (std::isspace(input[startIdx])) {
+      startIdx++;
+    }
+    if (input[startIdx] == 0) {
+      return Token(TokenType::End);
+    }
+    currentIdx = startIdx;
+
+    char c = input[currentIdx];
+    currentIdx++;
+    switch (c) {
+      case '+':
+        return Token(TokenType::Add);
+      case '-':
+        return Token(TokenType::Subtract);
+      case '*':
+        return Token(TokenType::Multiply);
+      case '/':
+        return Token(TokenType::Divide);
+      case '^':
+        return Token(TokenType::Exponent);
+      case '(':
+        return Token(TokenType::OpenParen);
+      case ')':
+        return Token(TokenType::CloseParen);
+      default:
+        currentIdx--;
+        if (std::isdigit(c) || c == '.') {
+          return nextNumber();
+        }
+        return Token(TokenType::Error);
+    }
+  }
+
+  // Makes NextToken() return the same token as previously
+  void Repeat() { currentIdx = startIdx; }
+
+ private:
+  const char* input;
+  int startIdx = 0, currentIdx = 0;
+
+  Token nextNumber() {
+    // Read whole part
+    bool hasDigitsBeforeDecimal = false;
+    while (std::isdigit(input[currentIdx])) {
+      currentIdx++;
+      hasDigitsBeforeDecimal = true;
+    }
+
+    // Read decimal part if it exists
+    if (input[currentIdx] == '.') {
+      currentIdx++;
+      if (!hasDigitsBeforeDecimal && !std::isdigit(input[currentIdx])) {
+        return Token(TokenType::Error);
+      }
+
+      while (std::isdigit(input[currentIdx])) {
+        currentIdx++;
+      }
+    }
+
+    return Token(TokenType::Number, input + startIdx, currentIdx - startIdx);
+  }
+};
+
+enum class Operator { Add, Subtract, Multiply, Divide, Exponent, Negate, None };
+
+Operator GetOperator(TokenType type) {
+  switch (type) {
+    case TokenType::Add:
+      return Operator::Add;
+    case TokenType::Subtract:
+      return Operator::Subtract;
+    case TokenType::Multiply:
+      return Operator::Multiply;
+    case TokenType::Divide:
+      return Operator::Divide;
+    case TokenType::Exponent:
+      return Operator::Exponent;
+    default:
+      return Operator::None;
+  }
+}
+
+int OperatorPrecedence(Operator op) {
+  switch (op) {
+    case Operator::Add:
+    case Operator::Subtract:
+      return 1;
+    case Operator::Multiply:
+    case Operator::Divide:
+      return 2;
+    case Operator::Exponent:
+      return 3;
+    case Operator::Negate:
+      return 4;
+    case Operator::None:
+      return 0;
+  }
+  return 0;
+}
+
+bool IsOperatorRightAssociative(Operator op) {
+  return op == Operator::Exponent || op == Operator::Negate;
+}
+
+template <typename V>
+void ApplyOperator(std::stack<V>& valStack, Operator op) {
+  V right = valStack.top();
+  valStack.pop();
+  V left = valStack.top();
+  valStack.pop();
+
+  V val = 0;
+  switch (op) {
+    case Operator::Add:
+      val = left + right;
+      break;
+    case Operator::Subtract:
+      val = left - right;
+      break;
+    case Operator::Multiply:
+      val = left * right;
+      break;
+    case Operator::Divide:
+      val = left / right;
+      break;
+    case Operator::Exponent:
+      val = std::pow(left, right);
+      break;
+    case Operator::Negate:
+      val = -right;
+      break;
+    case Operator::None:
+      break;
+  }
+
+  valStack.push(val);
+}
+
+template <typename V>
+V ValueFromString(const std::string& str);
+
+template <>
+int64_t ValueFromString(const std::string& str) {
+  return std::stoll(str);
+}
+
+template <>
+float ValueFromString(const std::string& str) {
+  return std::stof(str);
+}
+
+template <>
+double ValueFromString(const std::string& str) {
+  return std::stod(str);
+}
+
+template <typename V>
+ParseResult<V> ParseExpr(Lexer& lexer, bool insideParen) {
+  std::stack<Operator> operStack;
+  std::stack<V> valStack;
+
+  bool prevWasOp = true;
+  TokenType prevType = TokenType::Add;
+
+  while (true) {
+    Token token = lexer.NextToken();
+
+    bool wasOp = false;
+    switch (token.type) {
+      case TokenType::End:
+        goto end;
+      case TokenType::Number:
+        // This happens if there's multiple decimal places in the number
+        if (prevType == TokenType::Number) {
+          return ParseResult<V>::CreateError("Invalid number");
+        }
+
+        // Implicit multiplication. Ex: 2(4 + 5)
+        if (!prevWasOp) {
+          operStack.push(Operator::Multiply);
+        }
+
+        valStack.push(ValueFromString<V>(std::string(token.str, token.strLen)));
+        break;
+
+      case TokenType::OpenParen: {
+        // Implicit multiplication
+        if (!prevWasOp) {
+          operStack.push(Operator::Multiply);
+        }
+
+        ParseResult<V> result = ParseExpr<V>(lexer, true);
+        if (result.kind == ParseResultKind::Error) {
+          return result;
+        }
+        valStack.push(result.successVal);
+
+        TokenType nextType = lexer.NextToken().type;
+        if (nextType != TokenType::CloseParen) {
+          if (nextType == TokenType::End) {
+            goto end;  // Act as if closed at end of expression
+          }
+          return ParseResult<V>::CreateError("Expected )");
+        }
+        break;
+      }
+
+      case TokenType::CloseParen:
+        if (insideParen) {
+          lexer.Repeat();
+          goto end;
+        }
+        // Act as if there was open paren at start of expression
+        break;
+
+      case TokenType::Error:
+        return ParseResult<V>::CreateError("Unexpected character");
+
+      default:
+        Operator op = GetOperator(token.type);
+        if (op == Operator::None) {
+          lexer.Repeat();
+          goto end;
+        }
+        if (op == Operator::Subtract && prevWasOp) {
+          op = Operator::Negate;
+          // Dummy left-hand side for negation
+          valStack.push(0.0);
+        }
+        wasOp = true;
+
+        while (!operStack.empty()) {
+          Operator prevOp = operStack.top();
+
+          bool rightAssoc = IsOperatorRightAssociative(op);
+          int precedence = OperatorPrecedence(op);
+          int prevPrecedence = OperatorPrecedence(prevOp);
+
+          if ((!rightAssoc && precedence == prevPrecedence) ||
+              precedence < prevPrecedence) {
+            operStack.pop();
+            if (valStack.size() < 2) {
+              return ParseResult<V>::CreateError("Missing operand");
+            }
+            ApplyOperator<V>(valStack, prevOp);
+          } else {
+            break;
+          }
+        }
+        operStack.push(op);
+        break;
+    }
+    prevType = token.type;
+    prevWasOp = wasOp;
+  }
+
+// Reached the end of the expression
+end:
+  while (!operStack.empty()) {
+    if (valStack.size() < 2) {
+      return ParseResult<V>::CreateError("Missing operand");
+    }
+    ApplyOperator<V>(valStack, operStack.top());
+    operStack.pop();
+  }
+  if (valStack.empty()) {
+    return ParseResult<V>::CreateError("No value");
+  }
+
+  return ParseResult<V>::CreateSuccess(valStack.top());
+}
+
+// expr is null-terminated string, as ImGui::inputText() uses
+template <typename V>
+ParseResult<V> TryParseExpr(const char* expr) {
+  Lexer lexer(expr);
+  return ParseExpr<V>(lexer, false);
+}
+
+template ParseResult<double> TryParseExpr(const char*);
+template ParseResult<float> TryParseExpr(const char*);
+template ParseResult<int64_t> TryParseExpr(const char*);
+
+}  // namespace glass::expression