Package frc.team88.swerve.configuration

Class Configuration

  • All Implemented Interfaces:
    NetworkTablePopulator
    public class Configuration
extends java.lang.Object
implements NetworkTablePopulator
    Parses a swerve configuration file, generates objects from it, and provides access to all of its contents.

    • Constructor Summary

      Constructors 
      Constructor Description
      Configuration​(java.lang.String configPath)
      Loads the base config and user config from the filesystem.
      Configuration​(java.lang.String configPath, SwerveGyro gyro)
      Loads the base config and user config from the filesystem.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      static <T> T configCheckAndGet​(com.electronwill.nightconfig.core.Config config, java.lang.String key, java.lang.Class<T> type)
      Checks the existence and type of the given config field, then returns the value.
      static double configCheckAndGetDouble​(com.electronwill.nightconfig.core.Config config, java.lang.String key)
      Checks that the given field exists and is a number, then returns it as a double.
      static double configCheckAndGetDoubleOrElse​(com.electronwill.nightconfig.core.Config config, java.lang.String key, double defaultValue)
      If the given field exists, check that it's a number then return it as a double.
      static <T extends java.lang.Enum<T>>
      T      		 configCheckAndGetEnum​(com.electronwill.nightconfig.core.Config config, java.lang.String key, java.lang.Class<T> enumType)
      Checks that the given field exists and is an enum, then returns the value.
      static <T> T configCheckAndGetOrElse​(com.electronwill.nightconfig.core.Config config, java.lang.String key, java.lang.Class<T> type, T defaultValue)
      If the given field exists, check it's type then return it's value.
      java.util.Map<java.lang.Integer,​com.ctre.phoenix.CANifier> getCanifiers()
      Gets a mapping from can IDs to canifiers instantiated by this configuration.
      SwerveGyro getGyro()
      Gets the gyro object specified by this config.
      SwerveModule[] getModules()
      Gets the swerve modules specified by this config.
      void populateNetworkTable​(edu.wpi.first.networktables.NetworkTable table)
      Populates the given network table with data from this class.

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • Configuration

        public Configuration​(java.lang.String configPath,
                     SwerveGyro gyro)
        Loads the base config and user config from the filesystem.
        Parameters:
        configPath - The file path of the toml config. It can be a relative path inside of the deploy directory or an absolute path.
        gyro - The gyro to use. Will instantiate from config if null.
        Throws:
        SwerveConfigException - If the user provided config is incorrect.

      • Configuration

        public Configuration​(java.lang.String configPath)
        Loads the base config and user config from the filesystem. Instantiates the gyro from the config.
        Parameters:
        configPath - The file path of the toml config. It can be a relative path inside of the deploy directory or an absolute path.
        Throws:
        SwerveConfigException - If the user provided config is incorrect.

    • Method Detail

      • getGyro

        public SwerveGyro getGyro()
        Gets the gyro object specified by this config.
        Returns:
        The gyro object.

      • getModules

        public SwerveModule[] getModules()
        Gets the swerve modules specified by this config.
        Returns:
        The modules array.

      • getCanifiers

        public java.util.Map<java.lang.Integer,​com.ctre.phoenix.CANifier> getCanifiers()
        Gets a mapping from can IDs to canifiers instantiated by this configuration.
        Returns:
        The mapping from can IDs to CANifiers.

      • populateNetworkTable

        public void populateNetworkTable​(edu.wpi.first.networktables.NetworkTable table)
        Description copied from interface: NetworkTablePopulator
        Populates the given network table with data from this class. May also read in values.
        Specified by:
        populateNetworkTable in interface NetworkTablePopulator
        Parameters:
        table - The table to populate, and possibly read from.

      • configCheckAndGet

        public static <T> T configCheckAndGet​(com.electronwill.nightconfig.core.Config config,
                                      java.lang.String key,
                                      java.lang.Class<T> type)
        Checks the existence and type of the given config field, then returns the value.
        Type Parameters:
        T - The type of the field.
        Parameters:
        config - The config to get the field from.
        key - The key of the field to get.
        type - The expected type of the field.
        Returns:
        The value of the field.
        Throws:
        SwerveConfigException - If the key does not exist or is not the right type.

      • configCheckAndGetDouble

        public static double configCheckAndGetDouble​(com.electronwill.nightconfig.core.Config config,
                                             java.lang.String key)
        Checks that the given field exists and is a number, then returns it as a double.
        Parameters:
        config - The config to get the field from.
        key - The key of the field to get.
        Returns:
        The value of the field.
        Throws:
        SwerveConfigException - If the key does not exist or is not a number.

      • configCheckAndGetEnum

        public static <T extends java.lang.Enum<T>> T configCheckAndGetEnum​(com.electronwill.nightconfig.core.Config config,
                                                                    java.lang.String key,
                                                                    java.lang.Class<T> enumType)
        Checks that the given field exists and is an enum, then returns the value.
        Type Parameters:
        T - The type of the field.
        Parameters:
        config - The config to get the field from.
        key - The key of the field to get.
        enumType - The expected enum type of the field.
        Returns:
        The value of the field.
        Throws:
        SwerveConfigException - If the key does not exist, is not a string, or is not in the enum.

      • configCheckAndGetOrElse

        public static <T> T configCheckAndGetOrElse​(com.electronwill.nightconfig.core.Config config,
                                            java.lang.String key,
                                            java.lang.Class<T> type,
                                            T defaultValue)
        If the given field exists, check it's type then return it's value. Otherwise, return the default.
        Type Parameters:
        T - The type of the field.
        Parameters:
        config - The config to get the field from.
        key - The key of the field to get.
        type - The expected type of the field.
        defaultValue - The value to return if the field doesn't exist.
        Returns:
        The value of the field.
        Throws:
        SwerveConfigException - If the key is not the right type.

      • configCheckAndGetDoubleOrElse

        public static double configCheckAndGetDoubleOrElse​(com.electronwill.nightconfig.core.Config config,
                                                   java.lang.String key,
                                                   double defaultValue)
        If the given field exists, check that it's a number then return it as a double. Otherwise, return the default.
        Parameters:
        config - The config to get the field from.
        key - The key of the field to get.
        defaultValue - The value to return if the field doesn't exist.
        Returns:
        The value of the field.
        Throws:
        SwerveConfigException - If the key is not a number.