TunableDouble.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 java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;

public abstract class TunableDouble extends TunableBase implements DoubleSupplier, DoubleConsumer {
  public static TunableDouble create() {
    return create(0.0);
  }

  public static TunableDouble create(double initialValue) {
    return createConfig(initialValue, null);
  }

  public static TunableDouble create(DoubleSupplier getter, DoubleConsumer setter) {
    return createConfig(getter, setter, null);
  }

  public static TunableDouble createConfig(TunableConfig config) {
    return createConfig(0.0, config);
  }

  public static TunableDouble createConfig(double initialValue, TunableConfig config) {
    return new TunableDouble(config, true) {
      @Override
      public void set(double value) {
        if (Double.compare(m_value, value) == 0) {
          return;
        }
        m_value = value;
        markChanged();
      }
 
      @Override
      public double get() {
        return m_value;
      }
 
      private double m_value = initialValue;
    };
  }

  public static TunableDouble createConfig(
      DoubleSupplier getter, DoubleConsumer setter, TunableConfig config) {
    if (config == null) {
      config = TunableConfig.of(TunableOption.ALWAYS_GET);
    } else if (config.getPolling() == TunableConfig.Polling.DEFAULT) {
      config = config.withPolling(TunableConfig.Polling.ALWAYS_GET);
    }
    return new TunableDouble(config, true) {
      @Override
      public void set(double value) {
        boolean changed = Double.compare(getter.getAsDouble(), value) != 0;
        if (setter != null) {
          setter.accept(value);
        }
        if (changed) {
          markChanged();
        }
      }
 
      @Override
      public double get() {
        return getter.getAsDouble();
      }
    };
  }

  protected TunableDouble(TunableConfig config) {
    super(config);
  }

  protected TunableDouble(TunableConfig config, boolean supportsChangeNotification) {
    super(config, supportsChangeNotification);
  }

  public abstract void set(double value);

  public abstract double get();
 
  @Override
  public double getAsDouble() {
    return get();
  }
 
  @Override
  public void accept(double value) {
    set(value);
  }
}