frcconf Example

ConfigLoader.java

package com.swervedrivespecialties.exampleswerve.config;

import edu.wpi.first.networktables.PersistentException;

public class ConfigLoader {
  private RobotMap robotMapInstance;

  public RobotMap loadRobotMap() throws PersistentException {
    if (robotMapInstance == null) {
      robotMapInstance = new ConfiguredRobotMap("/Map", "/home/lvuser/deploy/map.ini");
    }

    return robotMapInstance;
  }
}

ConfiguredRobotMap.java

package com.swervedrivespecialties.exampleswerve.config;

import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PersistentException;
import java.lang.String;

public class ConfiguredRobotMap extends RobotMap {
  String root;

  String file;

  public ConfiguredRobotMap(String root, String file) throws PersistentException {
    this.root = root;
    this.file = file;
    putDefault();
    NetworkTableInstance.getDefault().loadEntries(file, root);
    setupNT();
    NetworkTableInstance.getDefault().saveEntries(file, root);
  }

  private void setupNT() {
    NetworkTableInstance inst = NetworkTableInstance.getDefault();
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_LEFT/ANGLE_MOTOR", root)), entry -> this.FRONT_LEFT.ANGLE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_LEFT/ANGLE_ENCODER", root)), entry -> this.FRONT_LEFT.ANGLE_ENCODER = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_LEFT/DRIVE_MOTOR", root)), entry -> this.FRONT_LEFT.DRIVE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_LEFT/DRIVE_INVERT", root)), entry -> this.FRONT_LEFT.DRIVE_INVERT = ((Boolean) entry.value.getValue()).booleanValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_RIGHT/ANGLE_MOTOR", root)), entry -> this.FRONT_RIGHT.ANGLE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_RIGHT/ANGLE_ENCODER", root)), entry -> this.FRONT_RIGHT.ANGLE_ENCODER = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_RIGHT/DRIVE_MOTOR", root)), entry -> this.FRONT_RIGHT.DRIVE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/FRONT_RIGHT/DRIVE_INVERT", root)), entry -> this.FRONT_RIGHT.DRIVE_INVERT = ((Boolean) entry.value.getValue()).booleanValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_LEFT/ANGLE_MOTOR", root)), entry -> this.BACK_LEFT.ANGLE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_LEFT/ANGLE_ENCODER", root)), entry -> this.BACK_LEFT.ANGLE_ENCODER = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_LEFT/DRIVE_MOTOR", root)), entry -> this.BACK_LEFT.DRIVE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_LEFT/DRIVE_INVERT", root)), entry -> this.BACK_LEFT.DRIVE_INVERT = ((Boolean) entry.value.getValue()).booleanValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_RIGHT/ANGLE_MOTOR", root)), entry -> this.BACK_RIGHT.ANGLE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_RIGHT/ANGLE_ENCODER", root)), entry -> this.BACK_RIGHT.ANGLE_ENCODER = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_RIGHT/DRIVE_MOTOR", root)), entry -> this.BACK_RIGHT.DRIVE_MOTOR = ((Double) entry.value.getValue()).intValue(), 5);
    inst.addEntryListener(inst.getEntry(String.format("%s/BACK_RIGHT/DRIVE_INVERT", root)), entry -> this.BACK_RIGHT.DRIVE_INVERT = ((Boolean) entry.value.getValue()).booleanValue(), 5);
  }

  private void putDefault() {
    NetworkTableInstance inst = NetworkTableInstance.getDefault();
    inst.getEntry(String.format("%s/FRONT_LEFT/ANGLE_MOTOR", root)).forceSetValue(this.FRONT_LEFT.ANGLE_MOTOR);
    inst.getEntry(String.format("%s/FRONT_LEFT/ANGLE_ENCODER", root)).forceSetValue(this.FRONT_LEFT.ANGLE_ENCODER);
    inst.getEntry(String.format("%s/FRONT_LEFT/DRIVE_MOTOR", root)).forceSetValue(this.FRONT_LEFT.DRIVE_MOTOR);
    inst.getEntry(String.format("%s/FRONT_LEFT/DRIVE_INVERT", root)).forceSetValue(this.FRONT_LEFT.DRIVE_INVERT);
    inst.getEntry(String.format("%s/FRONT_RIGHT/ANGLE_MOTOR", root)).forceSetValue(this.FRONT_RIGHT.ANGLE_MOTOR);
    inst.getEntry(String.format("%s/FRONT_RIGHT/ANGLE_ENCODER", root)).forceSetValue(this.FRONT_RIGHT.ANGLE_ENCODER);
    inst.getEntry(String.format("%s/FRONT_RIGHT/DRIVE_MOTOR", root)).forceSetValue(this.FRONT_RIGHT.DRIVE_MOTOR);
    inst.getEntry(String.format("%s/FRONT_RIGHT/DRIVE_INVERT", root)).forceSetValue(this.FRONT_RIGHT.DRIVE_INVERT);
    inst.getEntry(String.format("%s/BACK_LEFT/ANGLE_MOTOR", root)).forceSetValue(this.BACK_LEFT.ANGLE_MOTOR);
    inst.getEntry(String.format("%s/BACK_LEFT/ANGLE_ENCODER", root)).forceSetValue(this.BACK_LEFT.ANGLE_ENCODER);
    inst.getEntry(String.format("%s/BACK_LEFT/DRIVE_MOTOR", root)).forceSetValue(this.BACK_LEFT.DRIVE_MOTOR);
    inst.getEntry(String.format("%s/BACK_LEFT/DRIVE_INVERT", root)).forceSetValue(this.BACK_LEFT.DRIVE_INVERT);
    inst.getEntry(String.format("%s/BACK_RIGHT/ANGLE_MOTOR", root)).forceSetValue(this.BACK_RIGHT.ANGLE_MOTOR);
    inst.getEntry(String.format("%s/BACK_RIGHT/ANGLE_ENCODER", root)).forceSetValue(this.BACK_RIGHT.ANGLE_ENCODER);
    inst.getEntry(String.format("%s/BACK_RIGHT/DRIVE_MOTOR", root)).forceSetValue(this.BACK_RIGHT.DRIVE_MOTOR);
    inst.getEntry(String.format("%s/BACK_RIGHT/DRIVE_INVERT", root)).forceSetValue(this.BACK_RIGHT.DRIVE_INVERT);
  }
}

RobotMap.java

package com.swervedrivespecialties.exampleswerve.config;

import frcconf.Configurable;

@Configurable
public class RobotMap {
  public SwerveModuleMap FRONT_LEFT = new SwerveModuleMap();
  public SwerveModuleMap FRONT_RIGHT = new SwerveModuleMap();
  public SwerveModuleMap BACK_LEFT = new SwerveModuleMap();
  public SwerveModuleMap BACK_RIGHT = new SwerveModuleMap();

  public static class SwerveModuleMap {
    public int ANGLE_MOTOR;
    public int ANGLE_ENCODER;
    public int DRIVE_MOTOR;
    public boolean DRIVE_INVERT;
  }
}