From 0191cfdcac908480434d0eb4f1181a2c29d330fe Mon Sep 17 00:00:00 2001
From: Maftei Albert-Alexandru <maftei.albert.alexandru@gmail.com>
Date: Sun, 5 Nov 2023 01:56:22 +0200
Subject: [PATCH] Add array config support (#144)

Add support for using fixed-size arrays in configuration variables.
---
 .../config/reflection/ArrayProvider.java      | 54 +++++++++++++
 .../config/reflection/ReflectionConfig.java   | 78 +++++++++++++++++--
 .../ftc/teamcode/ArrayTestOpMode.java         | 34 ++++++++
 3 files changed, 158 insertions(+), 8 deletions(-)
 create mode 100644 DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ArrayProvider.java
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ArrayTestOpMode.java

diff --git a/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ArrayProvider.java b/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ArrayProvider.java
new file mode 100644
index 000000000..74420ecf1
--- /dev/null
+++ b/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ArrayProvider.java
@@ -0,0 +1,54 @@
+package com.acmerobotics.dashboard.config.reflection;
+
+import com.acmerobotics.dashboard.config.ValueProvider;
+
+import java.lang.reflect.Array;
+import java.lang.reflect.Field;
+
+public class ArrayProvider<T> implements ValueProvider<T> {
+    private final Field field;
+    private final Object parent;
+    private final int[] indices;
+    public ArrayProvider(Field field, Object parent, int... indices) {
+        this.field = field;
+        this.parent = parent;
+        this.indices = indices;
+    }
+    @SuppressWarnings("unchecked")
+    @Override
+    public T get() {
+        try {
+            return (T) getArrayRecursive(field.get(parent), indices);
+        } catch (IllegalAccessException e) {
+            throw new RuntimeException(e);
+        } catch(ArrayIndexOutOfBoundsException e)
+        {
+            return null;
+        }
+    }
+    @Override
+    public void set(T value) {
+        try {
+            setArrayRecursive(field.get(parent), value, indices);
+        } catch (IllegalAccessException e) {
+            throw new RuntimeException(e);
+        }catch(ArrayIndexOutOfBoundsException ignored) { }
+    }
+
+
+    public static Object getArrayRecursive(Object object, int[] indices) throws ArrayIndexOutOfBoundsException, IllegalAccessException
+    {
+        for (int index : indices) {
+            object = Array.get(object, index);
+        }
+        return object;
+    }
+    public static void setArrayRecursive(Object object, Object value, int[] indices)
+    {
+        for(int i=0;i< indices.length-1;i++)
+        {
+            object=Array.get(object,indices[i]);
+        }
+        Array.set(object,indices[indices.length-1], value);
+    }
+}
diff --git a/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ReflectionConfig.java b/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ReflectionConfig.java
index b52d158ec..73fe6b791 100644
--- a/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ReflectionConfig.java
+++ b/DashboardCore/src/main/java/com/acmerobotics/dashboard/config/reflection/ReflectionConfig.java
@@ -5,8 +5,10 @@
 import com.acmerobotics.dashboard.config.variable.CustomVariable;
 import com.acmerobotics.dashboard.config.variable.VariableType;
 
+import java.lang.reflect.Array;
 import java.lang.reflect.Field;
 import java.lang.reflect.Modifier;
+import java.util.Arrays;
 
 public class ReflectionConfig {
     private ReflectionConfig() {}
@@ -24,7 +26,60 @@ public static CustomVariable createVariableFromClass(Class<?> configClass) {
 
         return customVariable;
     }
+    private static ConfigVariable<?>  createVariableFromArrayField(Field field, Class<?> fieldClass, Object parent, int[] indices) {
+        VariableType type = VariableType.fromClass(fieldClass);
+        switch (type) {
+            case BOOLEAN:
+            case INT:
+            case DOUBLE:
+            case STRING:
+            case ENUM:
+                return new BasicVariable<>(type, new ArrayProvider<Boolean>(field, parent,Arrays.copyOf(indices, indices.length)));
+            case CUSTOM:
+                try {
+                    Object value = null;
+                    try {
+                        value = ArrayProvider.getArrayRecursive(field.get(parent), indices);
+                    }catch (ArrayIndexOutOfBoundsException ignored )
+                    {
 
+                    }
+
+                    if (value == null) {
+                        return new CustomVariable(null);
+                    }
+                    CustomVariable customVariable = new CustomVariable();
+                    if(fieldClass.isArray())
+                    {
+                        int[] newIndices = Arrays.copyOf(indices, indices.length+1);
+
+                        for(int i = 0; i<Array.getLength(value); i++)
+                        {
+
+                            newIndices[newIndices.length-1]=i;
+                            customVariable.putVariable(Integer.toString(i), createVariableFromArrayField(field, fieldClass.getComponentType(), parent, newIndices));
+                        }
+                    }
+                    else {
+                        for (Field nestedField : fieldClass.getFields()) {
+                            if (Modifier.isFinal(field.getModifiers())) {
+                                continue;
+                            }
+
+                            String name = nestedField.getName();
+                            customVariable.putVariable(name,
+                                    createVariableFromField(nestedField, value));
+                        }
+                    }
+                    return customVariable;
+                } catch (IllegalAccessException e) {
+                    throw new RuntimeException(e);
+                }
+            default:
+                throw new RuntimeException("Unsupported field type: " +
+                        fieldClass.getName());
+        }
+    }
     private static ConfigVariable<?> createVariableFromField(Field field, Object parent) {
         Class<?> fieldClass = field.getType();
         VariableType type = VariableType.fromClass(fieldClass);
@@ -41,18 +96,25 @@ private static ConfigVariable<?> createVariableFromField(Field field, Object par
                     if (value == null) {
                         return new CustomVariable(null);
                     }
-
                     CustomVariable customVariable = new CustomVariable();
-                    for (Field nestedField : fieldClass.getFields()) {
-                        if (Modifier.isFinal(field.getModifiers())) {
-                            continue;
+                    if(fieldClass.isArray())
+                    {
+                        for(int i = 0; i<Array.getLength(value); i++)
+                        {
+                            customVariable.putVariable(Integer.toString(i), createVariableFromArrayField(field, field.getType().getComponentType(), parent, new int[]{i}));
                         }
-
-                        String name = nestedField.getName();
-                        customVariable.putVariable(name,
-                                createVariableFromField(nestedField, value));
                     }
+                    else {
+                        for (Field nestedField : fieldClass.getFields()) {
+                            if (Modifier.isFinal(field.getModifiers())) {
+                                continue;
+                            }
 
+                            String name = nestedField.getName();
+                            customVariable.putVariable(name,
+                                    createVariableFromField(nestedField, value));
+                        }
+                    }
                     return customVariable;
                 } catch (IllegalAccessException e) {
                     throw new RuntimeException(e);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ArrayTestOpMode.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ArrayTestOpMode.java
new file mode 100644
index 000000000..6bdb0dc23
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ArrayTestOpMode.java
@@ -0,0 +1,34 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+@SuppressWarnings("unused")
+@Config
+@TeleOp
+public class ArrayTestOpMode extends LinearOpMode {
+    public static class NestedClass {
+        public int a,b;
+    }
+    public static int[] array = new int[3];
+    public static NestedClass[] innerArray = new NestedClass[] { new NestedClass(), new NestedClass(), new NestedClass()};
+    @Override
+    public void runOpMode() {
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        waitForStart();
+        array=new int[2];
+        while(opModeIsActive())
+        {
+            telemetry.addData("array0", array[0]);
+            telemetry.addData("array1", array[1]);
+            telemetry.addData("innerArray0A", innerArray[0].a);
+            telemetry.addData("innerArray1B", innerArray[1].b);
+            telemetry.addData("innerArray2A", innerArray[2].a);
+            telemetry.update();
+        }
+    }
+}