TunableConfig.java

// 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.
 
package org.wpilib.tunable;
 
import io.avaje.json.JsonException;
import io.avaje.jsonb.JsonType;
import io.avaje.jsonb.Jsonb;
import java.util.HashMap;
import java.util.Map;
import java.util.Objects;

public final class TunableConfig {
  private static final class NoCopy {}
 
  private static final Jsonb s_json = Jsonb.instance();
  private static final JsonType<Object> s_jsonValue = s_json.type(Object.class);
  private static final NoCopy NO_COPY = new NoCopy();

  public enum Polling {
    DEFAULT,

    ALWAYS_GET,

    GET_ON_CHANGE
  }
 
  private final Map<String, String> m_properties;
  private final boolean m_robust;
  private final String m_typeString;
  private final boolean m_mutable;
  private final Runnable m_onTune;
  private final Polling m_polling;

  public TunableConfig() {
    m_properties = Map.of();
    m_robust = false;
    m_typeString = null;
    m_mutable = true;
    m_onTune = null;
    m_polling = Polling.DEFAULT;
  }

  public TunableConfig(
      Map<String, String> propertiesMap,
      boolean robust,
      String typeString,
      boolean isMutable,
      Runnable onTune,
      boolean alwaysGet) {
    this(
        propertiesMap,
        robust,
        typeString,
        isMutable,
        onTune,
        alwaysGet ? Polling.ALWAYS_GET : Polling.GET_ON_CHANGE);
  }

  public TunableConfig(
      Map<String, String> propertiesMap,
      boolean robust,
      String typeString,
      boolean isMutable,
      Runnable onTune,
      Polling polling) {
    m_properties = validateProperties(propertiesMap);
    m_robust = robust;
    m_typeString = typeString;
    m_mutable = isMutable;
    m_onTune = onTune;
    m_polling = Objects.requireNonNull(polling, "polling");
  }
 
  @SuppressWarnings("PMD.UnusedFormalParameter")
  private TunableConfig(
      Map<String, String> propertiesMap,
      boolean robust,
      String typeString,
      boolean isMutable,
      Runnable onTune,
      Polling polling,
      NoCopy noCopy) {
    m_properties = propertiesMap;
    m_robust = robust;
    m_typeString = typeString;
    m_mutable = isMutable;
    m_onTune = onTune;
    m_polling = Objects.requireNonNull(polling, "polling");
  }

  public static TunableConfig of(TunableOption... options) {
    Map<String, String> propertiesMap = new HashMap<>();
    boolean robust = false;
    String typeString = null;
    boolean isMutable = true;
    Runnable onTune = null;
    Polling polling = Polling.DEFAULT;
    for (TunableOption option : options) {
      switch (option) {
        case TunableOption.Robust(boolean v) -> robust = v;
        case TunableOption.Property(String k, String v) -> addProperty(propertiesMap, k, v);
        case TunableOption.TypeString(String v) -> typeString = v;
        case TunableOption.Mutable(boolean v) -> isMutable = v;
        case TunableOption.OnTune(Runnable v) -> onTune = v;
        case TunableOption.Polling(TunableConfig.Polling v) -> polling = v;
      }
    }
    return new TunableConfig(
        propertiesMap, robust, typeString, isMutable, onTune, polling, NO_COPY);
  }

  public TunableConfig withProperty(String key, String value) {
    Map<String, String> newProperties = new HashMap<>(m_properties);
    addProperty(newProperties, key, value);
    TunableConfig config =
        new TunableConfig(
            newProperties, m_robust, m_typeString, m_mutable, m_onTune, m_polling, NO_COPY);
    return config;
  }
 
  private static Map<String, String> validateProperties(Map<String, String> propertiesMap) {
    Objects.requireNonNull(propertiesMap, "propertiesMap");
    Map<String, String> validProperties = new HashMap<>();
    propertiesMap.forEach((key, value) -> addProperty(validProperties, key, value));
    return Map.copyOf(validProperties);
  }
 
  private static void addProperty(Map<String, String> propertiesMap, String key, String value) {
    if (key == null) {
      TunableRegistry.reportWarning("invalid property key");
      return;
    }
    if (!isValidPropertyJson(value)) {
      TunableRegistry.reportWarning("invalid property JSON for property '" + key + "'");
      return;
    }
    propertiesMap.put(key, value);
  }
 
  private static boolean isValidPropertyJson(String value) {
    if (value == null) {
      return false;
    }
    try {
      s_jsonValue.fromJson(value);
      return true;
    } catch (JsonException e) {
      return false;
    }
  }

  public TunableConfig withRobust(boolean robust) {
    return new TunableConfig(
        m_properties, robust, m_typeString, m_mutable, m_onTune, m_polling, NO_COPY);
  }

  public TunableConfig withTypeString(String typeString) {
    return new TunableConfig(
        m_properties, m_robust, typeString, m_mutable, m_onTune, m_polling, NO_COPY);
  }

  public TunableConfig withMutable(boolean isMutable) {
    return new TunableConfig(
        m_properties, m_robust, m_typeString, isMutable, m_onTune, m_polling, NO_COPY);
  }

  public TunableConfig withOnTune(Runnable onTune) {
    return new TunableConfig(
        m_properties, m_robust, m_typeString, m_mutable, onTune, m_polling, NO_COPY);
  }

  public TunableConfig withAlwaysGet(boolean alwaysGet) {
    return withPolling(alwaysGet ? Polling.ALWAYS_GET : Polling.GET_ON_CHANGE);
  }

  public TunableConfig withPolling(Polling polling) {
    return new TunableConfig(
        m_properties, m_robust, m_typeString, m_mutable, m_onTune, polling, NO_COPY);
  }

  public String getProperties() {
    StringBuilder sb = new StringBuilder(64);
    sb.append('{');
    m_properties.forEach(
        (k, v) -> {
          sb.append(s_json.toJson(k)).append(':').append(v).append(',');
        });
    if (sb.length() > 1) {
      sb.setCharAt(sb.length() - 1, '}');
    } else {
      sb.append('}');
    }
    return sb.toString();
  }

  public boolean isRobust() {
    return m_robust;
  }

  public String getTypeString() {
    return m_typeString;
  }

  public boolean isMutable() {
    return m_mutable;
  }

  public Runnable getOnTune() {
    return m_onTune;
  }

  public boolean isAlwaysGet() {
    return m_polling == Polling.ALWAYS_GET;
  }

  public Polling getPolling() {
    return m_polling;
  }
}