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Merge pull request #1 from Andover-Robotics/master
Pulled FTC SDK v4.0 from ARC-Core
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26 changes: 0 additions & 26 deletions
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ARCCore/src/androidTest/java/com/andoverrobotics/core/ExampleInstrumentedTest.java
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213 changes: 213 additions & 0 deletions
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ARCCore/src/main/com/andoverrobotics/core/config/Configuration.java
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| package com.andoverrobotics.core.config; | ||
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| import java.io.File; | ||
| import java.io.FileReader; | ||
| import java.io.IOException; | ||
| import java.io.Reader; | ||
| import java.lang.reflect.Field; | ||
| import java.util.HashMap; | ||
| import java.util.Map; | ||
| import java.util.Objects; | ||
| import java.util.Properties; | ||
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| /** | ||
| * A key-value mapping abstraction that allows for the retrieval of values in a variety of types. | ||
| * <p> <h2>Schemas</h2> Configuration Schemas are small classes that only contain non-private fields | ||
| * that are declared in compatible types. The following is an example: | ||
| * <pre>{@code | ||
| * class ExampleSchema { | ||
| * int numberOfBlocks; | ||
| * double servoPositionAtRest; | ||
| * boolean usePredefinedAutonomous; | ||
| * String selectedProcedureName; | ||
| * } | ||
| * }</pre> | ||
| * <p> Each field in a schema corresponds to an entry in the configuration map with the same name. | ||
| * For the example above, a valid configuration map would be as follows, formatted in Properties | ||
| * style: | ||
| * <pre>{@code | ||
| * numberOfBlocks=4 | ||
| * servoPositionAtRest=0.51 | ||
| * usePredefinedAutonomous=false | ||
| * selectedProcedureName=auto2 | ||
| * }</pre> | ||
| * <p> | ||
| * | ||
| * @see InvalidFormatError | ||
| * @see InvalidSchemaError | ||
| */ | ||
| public final class Configuration { | ||
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| private static final String PROPERTIES_DIRECTORY = "/storage/self/primary/FIRST/config"; | ||
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| private final Map<String, String> map; | ||
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| private Configuration(Map<String, String> map) { | ||
| this.map = map; | ||
| } | ||
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| /** | ||
| * Reads a file with the given name from the standard directory for configuration file storage, | ||
| * parses it into {@link Properties} format, and returns a new instance of {@link Configuration} | ||
| * with the parsed mapping. | ||
| * @param fileName Name of the file to be read | ||
| * @return The Configuration instance whose entries have been read from the given file | ||
| * @throws IOException If the file with the given name cannot be read | ||
| */ | ||
| public static Configuration fromPropertiesFile(String fileName) | ||
| throws IOException { | ||
| return fromProperties(new FileReader(new File(PROPERTIES_DIRECTORY, fileName))); | ||
| } | ||
| /** | ||
| * Parses data from the given {@link Reader} in Java Properties format, and then creates a new | ||
| * instance of {@link Configuration} from the parsed result. | ||
| * @param file The Reader from which to parse data | ||
| * @return The new Configuration instance | ||
| * @throws IOException if an error is encountered while reading from the given Reader | ||
| */ | ||
| public static Configuration fromProperties(Reader file) | ||
| throws IOException { | ||
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| Properties props = new Properties(); | ||
| props.load(file); | ||
| // Java's sloppiness here. Properties was done in a rush and wasn't adapted to generics. | ||
| return Configuration.from(new HashMap(props)); | ||
| } | ||
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| /** | ||
| * Creates a new instance of {@link Configuration} from the given String-to-String {@link Map}. | ||
| * | ||
| * @param map The map to apply to the new Configuration instance | ||
| * @return The new Configuration instance | ||
| */ | ||
| public static Configuration from(Map<String, String> map) { | ||
| return new Configuration(map); | ||
| } | ||
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| /** | ||
| * Loads the entries from this Configuration to the given Schema instance. | ||
| * @param schemaInstance Configuration Schema instance into which the entries are loaded | ||
| * @param <T> Type of the given Schema instance | ||
| * @return The given Schema instance with its fields populated | ||
| * @throws InvalidSchemaError if the type of the given Schema instance is not suitable for loading | ||
| */ | ||
| public <T> T loadToSchema(T schemaInstance) { | ||
| Class<?> schemaClass = schemaInstance.getClass(); | ||
| try { | ||
| for (Field field : schemaClass.getDeclaredFields()) { | ||
| populateSchemaField(schemaInstance, field); | ||
| } | ||
| return schemaInstance; | ||
| } catch (Exception reflectionError) { | ||
| throw new InvalidSchemaError(schemaClass, reflectionError); | ||
| } | ||
| } | ||
|
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| /** | ||
| * Retrieves the value of the given key in the mapping, parsed as an integer. | ||
| * @param key The key for the requesting value | ||
| * @return The parsed integer represented by the key's corresponding value | ||
| * @throws InvalidFormatError if the given key's corresponding value cannot be parsed as an integer | ||
| * @throws NoSuchFieldError if the given key does not exist in this Configuration instance's mapping | ||
| */ | ||
| public int getInt(String key) { | ||
| String strValue = getString(key); | ||
| try { | ||
| return Integer.parseInt(strValue); | ||
| } catch (NumberFormatException numberException) { | ||
| throw new InvalidFormatError(key, strValue, "int"); | ||
| } | ||
| } | ||
|
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| /** | ||
| * Retrieves the value of the given key in the mapping, parsed as a double. | ||
| * @param key The key for the requesting value | ||
| * @return The parsed double represented by the key's corresponding value | ||
| * @throws InvalidFormatError if the given key's corresponding value cannot be parsed as a double | ||
| * @throws NoSuchFieldError if the given key does not exist in this Configuration instance's mapping | ||
| */ | ||
| public double getDouble(String key) { | ||
| String strValue = getString(key); | ||
| try { | ||
| return Double.parseDouble(strValue); | ||
| } catch (NumberFormatException numberException) { | ||
| throw new InvalidFormatError(key, strValue, "double"); | ||
| } | ||
| } | ||
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| /** | ||
| * Retrieves the value of the given key in the mapping, parsed as a boolean. Accepted values are | ||
| * <code>"true"</code> and <code>"false"</code>, case-insensitive. | ||
| * @param key The key for the requesting value | ||
| * @return The parsed boolean represented by the key's corresponding value | ||
| * @throws InvalidFormatError if the given key's corresponding value is not an accepted value | ||
| * @throws NoSuchFieldError if the given key does not exist in this Configuration instance's mapping | ||
| */ | ||
| public boolean getBoolean(String key) { | ||
| String value = getString(key); | ||
| if (value.equalsIgnoreCase("true")) { | ||
| return true; | ||
| } else if (value.equalsIgnoreCase("false")) { | ||
| return false; | ||
| } else { | ||
| throw new InvalidFormatError(key, value, "boolean"); | ||
| } | ||
| } | ||
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| /** | ||
| * Retrieves the value of the given key in the mapping. | ||
| * @param key The key for the requesting value | ||
| * @return The key's corresponding value | ||
| * @throws NoSuchFieldError if the given key does not exist in this mapping | ||
| */ | ||
| public String getString(String key) { | ||
| String value = map.get(key); | ||
| if (value == null) { | ||
| throw new NoSuchFieldError(key); | ||
| } | ||
| return value; | ||
| } | ||
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| @Override | ||
| public boolean equals(Object o) { | ||
| if (this == o) { | ||
| return true; | ||
| } | ||
| if (o == null || getClass() != o.getClass()) { | ||
| return false; | ||
| } | ||
| Configuration that = (Configuration) o; | ||
| return Objects.equals(map, that.map); | ||
| } | ||
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| @Override | ||
| public int hashCode() { | ||
| return Objects.hash(map); | ||
| } | ||
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| private <T> void populateSchemaField(T schemaInstance, Field field) | ||
| throws IllegalAccessException { | ||
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| String fieldName = field.getName(); | ||
| String typeName = field.getType().getCanonicalName(); | ||
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| switch (typeName) { | ||
| case "int": | ||
| field.setInt(schemaInstance, getInt(fieldName)); | ||
| break; | ||
| case "double": | ||
| field.setDouble(schemaInstance, getDouble(fieldName)); | ||
| break; | ||
| case "boolean": | ||
| field.setBoolean(schemaInstance, getBoolean(fieldName)); | ||
| break; | ||
| case "java.lang.String": | ||
| field.set(schemaInstance, getString(fieldName)); | ||
| break; | ||
| default: | ||
| throw new InvalidSchemaError(schemaInstance.getClass(), | ||
| new UnsupportedOperationException("Invalid type: " + typeName)); | ||
| } | ||
| } | ||
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| } |
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