Added Jack Smith's Feature for Config File Editing

config/config.json

@@ -1,48 +1 @@
-{
-	"driveTrainRightFrontTalon" : 1,
-	"driveTrainRightBackTalon" : 2,
-	"driveTrainLeftFrontTalon" : 13,
-	"driveTrainLeftBackTalon" : 14,
-
-
-	"driveTrainSolenoidShifter" : 1,
-	"driveTrainSolenoidBoolean" : true,
-	"driveTrainPID_PValue" : 0.025,
-	"driveTrainPID_IValue" : 0.0,
-	"driveTrainPID_DValue" : 0.06,
-
-
-	"topLimitSwitchOnElevator" : 1,
-	"bottomLimitSwitchOnElevator" : 2,
-	"elevatorLeftTalon" : 8,
-	"elevatorRightTalon" : 9,
-	"elevatorDownPower" : -0.1,
-	"elevatorPID_PValue" : 1,
-	"elevatorPID_IValue" : 0,
-	"elevatorPID_DValue" : 0,
-	"elevatorPID_FValue" : 0,
-
-
-	"elevatorSolenoidOne" : 3,
-	"elevatorSolenoidTwo" : 2,
-
-	"ingestorRightTalon" : 6,
-	"ingestorLeftTalon" : 7,
-
-	"ingestorCurrentConstant" : 4,
-	"ingestorCurrentTimer" : 15,
-
-	"ingestorSolenoidCloseHeavy" : 0,
-	"ingestorSolenoidCloseLight" : 5,
-
-	"climberTalonOne" : 5,
-	"climberTalonTwo" : 4,
-	"climberTalonThree" : 11,
-
-	"xboxPositionDriver" : 0,
-	"xboxPositionManip" : 1,
-
-	"scaleDistance": 500,
-	"switchDistance": 400,
-	"turnToAngle": 50.0
-}
+{"driveTrainPID_PValue":0.025,"xboxPositionDriver":0,"ingestorRightTalon":6,"driveTrainLeftBackTalon":14,"driveTrainPID_DValue":0.06,"topLimitSwitchOnElevator":1,"ingestorCurrentConstant":4,"driveTrainRightBackTalon":2,"elevatorPID_IValue":0,"driveTrainRightFrontTalon":1,"elevatorPID_FValue":0,"ingestorLeftTalon":7,"switchDistance":400,"ingestorCurrentTimer":15,"climberTalonOne":5,"elevatorPID_PValue":1,"elevatorLeftTalon":8,"elevatorPID_DValue":0,"driveTrainSolenoidBoolean":true,"elevatorSolenoidTwo":2,"driveTrainPID_IValue":0.0,"climberTalonThree":11,"ingestorSolenoidCloseHeavy":0,"scaleDistance":500,"driveTrainSolenoidShifter":1,"bottomLimitSwitchOnElevator":2,"turnToAngle":50.0,"elevatorSolenoidOne":3,"xboxPositionManip":1,"driveTrainLeftFrontTalon":13,"climberTalonTwo":4,"elevatorRightTalon":9,"elevatorDownPower":-0.1,"ingestorSolenoidCloseLight":5}

config/configBackup.json

@@ -0,0 +1 @@
+{"driveTrainPID_PValue":0.025,"xboxPositionDriver":0,"ingestorRightTalon":6,"driveTrainLeftBackTalon":14,"driveTrainPID_DValue":0.06,"topLimitSwitchOnElevator":1,"ingestorCurrentConstant":4,"driveTrainRightBackTalon":2,"elevatorPID_IValue":0,"driveTrainRightFrontTalon":1,"elevatorPID_FValue":0,"ingestorLeftTalon":7,"switchDistance":400,"ingestorCurrentTimer":15,"climberTalonOne":5,"elevatorPID_PValue":1,"elevatorLeftTalon":8,"elevatorPID_DValue":0,"driveTrainSolenoidBoolean":true,"elevatorSolenoidTwo":2,"driveTrainPID_IValue":0.0,"climberTalonThree":11,"ingestorSolenoidCloseHeavy":0,"scaleDistance":500,"driveTrainSolenoidShifter":1,"bottomLimitSwitchOnElevator":2,"turnToAngle":50.0,"elevatorSolenoidOne":3,"xboxPositionManip":1,"driveTrainLeftFrontTalon":13,"climberTalonTwo":4,"elevatorRightTalon":9,"elevatorDownPower":-0.1,"ingestorSolenoidCloseLight":5}

config/configBackup2.json

@@ -0,0 +1 @@
+{"driveTrainPID_PValue":0.025,"xboxPositionDriver":0,"ingestorRightTalon":6,"driveTrainLeftBackTalon":14,"driveTrainPID_DValue":0.06,"topLimitSwitchOnElevator":1,"ingestorCurrentConstant":4,"driveTrainRightBackTalon":2,"elevatorPID_IValue":0,"driveTrainRightFrontTalon":1,"elevatorPID_FValue":0,"ingestorLeftTalon":7,"switchDistance":400,"ingestorCurrentTimer":15,"climberTalonOne":5,"elevatorPID_PValue":1,"elevatorLeftTalon":8,"elevatorPID_DValue":0,"driveTrainSolenoidBoolean":true,"elevatorSolenoidTwo":2,"driveTrainPID_IValue":0.0,"climberTalonThree":11,"ingestorSolenoidCloseHeavy":0,"scaleDistance":500,"driveTrainSolenoidShifter":1,"bottomLimitSwitchOnElevator":2,"turnToAngle":50.0,"elevatorSolenoidOne":3,"xboxPositionManip":1,"driveTrainLeftFrontTalon":13,"climberTalonTwo":4,"elevatorRightTalon":9,"elevatorDownPower":-0.1,"ingestorSolenoidCloseLight":5}

config/configTemp.json

@@ -0,0 +1 @@
+{"driveTrainPID_PValue":0.025,"xboxPositionDriver":0,"ingestorRightTalon":6,"driveTrainLeftBackTalon":14,"driveTrainPID_DValue":0.06,"topLimitSwitchOnElevator":1,"ingestorCurrentConstant":4,"driveTrainRightBackTalon":2,"elevatorPID_IValue":0,"driveTrainRightFrontTalon":1,"elevatorPID_FValue":0,"ingestorLeftTalon":7,"switchDistance":400,"ingestorCurrentTimer":15,"climberTalonOne":5,"elevatorPID_PValue":1,"elevatorLeftTalon":8,"elevatorPID_DValue":0,"driveTrainSolenoidBoolean":true,"elevatorSolenoidTwo":2,"driveTrainPID_IValue":0.0,"climberTalonThree":11,"ingestorSolenoidCloseHeavy":0,"scaleDistance":500,"driveTrainSolenoidShifter":1,"bottomLimitSwitchOnElevator":2,"turnToAngle":50.0,"elevatorSolenoidOne":3,"xboxPositionManip":1,"driveTrainLeftFrontTalon":13,"climberTalonTwo":4,"elevatorRightTalon":9,"elevatorDownPower":-0.1,"ingestorSolenoidCloseLight":"5"}

src/main/java/frc/robot/ConfigEdit.java

@@ -0,0 +1,331 @@
+/**
+ * @author Jack Smith
+ * 
+ *          <summary> Methods for editing config.json file on-board.
+ *          Opens base file (config.json), backs it up (configBackup.json)
+ *          and (configBackup2.json), then writes over original 
+ *          with changes. Requires json file to already be parsed 
+ *          into a hashMap.
+ *          </summary>
+ * 
+ */
+
+ //Importing stuff
+import java.io.FileNotFoundException;
+import java.io.FileWriter;
+import java.io.IOException;
+
+import org.json.simple.JSONObject;
+
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.nio.file.StandardCopyOption;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Scanner;
+
+
+public class ConfigEdit {
+
+    //Constant file paths used in test
+    private static final String CONFIG_FILE = "config/config.json";
+
+    private static final String CONFIG_FILE_BACKUP = "config/configBackup.json";
+
+    private static final String CONFIG_FILE_BACKUP_BACKUP = "config/configBackup2.json";
+
+    //Scanner object used for user input
+    private static Scanner scan = new Scanner(System.in);
+
+    //Stores preparsed hashMap and then stores changes
+    private static HashMap<String, Object> mapChanges = new HashMap<String, Object>();
+
+    //JSON Object used to transition hashMap for writing
+    private static JSONObject mapFinal = new JSONObject();
+
+    //File writer
+    private static FileWriter fileW;
+
+
+    /**
+     * <summary> "Main function", call for intended purposes. </summary>
+     */
+    public static void test() {
+
+        //declare variable used in if statement
+        int status2 = -1;
+
+        //Start call timer
+        double copyFileTimer = System.nanoTime();
+
+        //Run the function
+        int status = copyFile(CONFIG_FILE, CONFIG_FILE_BACKUP, CONFIG_FILE_BACKUP_BACKUP);
+
+        //End call timer
+        double copyFileTimerEND = System.nanoTime();
+
+        System.out.println("Copying files took: " + ((copyFileTimerEND - copyFileTimer) / 1000000) + " ms");
+
+        //Start call timer
+        double printMapTimer = System.nanoTime();
+
+        //Run the function
+        print(JSONConstants.getMap());
+
+        //End call timer
+        double printMapTimerEND = System.nanoTime();
+
+        System.out.println("Printing map took: " + ((printMapTimerEND - printMapTimer) / 1000000) + " ms");
+
+        //Start call timer
+        double putMapTimer = System.nanoTime();
+
+        //Run the function
+        mapChanges = putHashMap(JSONConstants.getMap());
+
+        //End call timer
+        double putMapTimerEND = System.nanoTime();
+
+        System.out.println("Editing map took: " + ((putMapTimerEND - putMapTimer) / 1000000) + " ms");
+
+        //Start call timer
+        double doSaveTimer = System.nanoTime();
+
+        //Run the function
+        boolean doSaveBool = doSave();
+
+        //End call timer
+        double doSaveTimerEND = System.nanoTime();
+
+        System.out.println("Asking for save took: " + ((doSaveTimerEND - doSaveTimer) / 1000000) + " ms");
+
+        if(doSaveBool) {
+            //Start call timer
+            double writeTimer = System.nanoTime();
+
+            //Run the function
+            status2 = writeToFile(CONFIG_FILE, mapChanges);
+
+            //End call timer
+            double writeTimerEND = System.nanoTime();
+
+            System.out.println("Saving took: " + ((writeTimerEND - writeTimer) / 1000000) + " ms");
+        }
+
+        //What did we see?
+        System.out.println("Copying files returned: " + status);
+        System.out.println("Writing files returned: " + status2);
+
+        scan.close();
+    }
+
+    /**
+     * <summary> Method puts user input to filePath for use.
+     * Only use when no specific filepath is given. </summary>
+     *
+     * @return filePath - returns the user input for a filepath
+     */
+    public static String enterFile() {
+
+        //Ask for fileName to return to base code
+        System.out.println("Enter the name and location of the file you would like to access.");
+        String filePath = scan.next();
+
+        return filePath;
+    }
+
+    /**
+     * <summary> Copies backup file into second backup and then
+     * original file into backup file. </summary>
+     * 
+     * @param FILEPATHORIGINAL - original file that is being copied.
+     * @param FILEPATHBACKUP - backup file to be copied to in case of mistake.
+     * @param FILEPATHBACKUP2 - extra backup precaution
+     * 
+     * @return int - returns status of completion
+     */
+    public static int copyFile(String FILEPATHORIGINAL, String FILEPATHBACKUP, String FILEPATHBACKUP2) {
+        try {
+
+            //Copies existing file as entered file path.
+            Files.copy(Paths.get(FILEPATHBACKUP), Paths.get(FILEPATHBACKUP2), StandardCopyOption.REPLACE_EXISTING);
+            Files.copy(Paths.get(FILEPATHORIGINAL), Paths.get(FILEPATHBACKUP), StandardCopyOption.REPLACE_EXISTING);
+
+
+
+        } catch(FileNotFoundException fnfe) {
+
+			// System did not find the file in the specified path
+			// Check if file is defined correctly (spelling and path)
+			System.err.println("One or more file(s) were not found at their specified paths");
+            fnfe.printStackTrace();
+
+			//FAIL
+            return -1;
+        } catch(IOException ioe) {
+
+			// System was not able to perform I/O Operation(s)
+			// Check if the file is marked as read only or is protected in any way
+			// (encryption, etc.)
+			System.err.println("IOException Occured");
+			ioe.printStackTrace();
+
+			//FAIL
+			return -1;
+        }
+
+        //SUCCESS
+        return 0;
+    }
+
+    /**
+     * <summary> Gives user prompts to change the values in a HashMap. </summary>
+     * 
+     * @param map - Hashmap to be changed.
+     * 
+     * @return HashMap<String, Object> - returns a changed hashMap.
+     */
+    public static HashMap<String, Object> putHashMap(HashMap<String, Object> map) {
+
+        //Loop that continues until user asks for termination.
+        boolean endLoop = false;
+        while(endLoop == false) {
+
+            //Asks for input and then assigns to value
+            System.out.println("\nWould you like to change a key?  [y/n]");
+            String check = scan.nextLine();
+
+            if (check.equals("y")) {
+                //Asks user for inputs for key and value.
+                System.out.println("\nEnter the key of the value you would like to change.");
+                String key = scan.nextLine();
+
+                System.out.println("\nEnter the value that you would like the key to be changed to.");
+                String value = scan.nextLine();
+
+                Object valf;
+
+                //Casts the inputted value to be the same type as the existing hashMap.
+                if(map.get(key) instanceof Integer) {
+                    valf = Integer.parseInt(value);
+
+                } else if(map.get(key) instanceof Double) {
+                    valf = Double.parseDouble(value);
+
+                } else if(map.get(key) instanceof Boolean) {
+                    valf = Boolean.parseBoolean(value);
+
+                } else if(map.get(key) instanceof Long) {
+                    valf = Integer.parseInt(value);
+
+                } else {
+                    valf = value;
+                }
+
+
+                //Checks if key is valid.
+                if(map.containsKey(key)) {
+
+                    //Asks user if they are okay with changes.
+                    System.out.println("Are you sure you want to change: ");
+                    System.out.println("KEY: [" + key + "] = " + map.get(key) + " of TYPE " + map.get(key).getClass());
+                    System.out.println("To: ");
+                    System.out.println("KEY: [" + key + "] = " + valf + " of TYPE " + valf.getClass());
+
+                    check = scan.nextLine();
+                    if(check.equals("y")) {
+                        //Saves if y
+                        map.put(key, valf);
+                    } 
+                }else {
+                        System.out.println("Key does not exist.");
+                }
+
+            } else {
+                endLoop = true;
+            }
+        }
+        //Clean up
+        return map;
+    }
+
+
+    /**
+     * <summary> Saves a json file to specified file path </summary>
+     * 
+     * @param FILEPATH - File to be saved over
+     * @param HashMap - Hashmap to save over the file with
+     * 
+     * @return int - returns whether successful
+     */
+    public static int writeToFile(String FILEPATH, HashMap<String, Object> mapOriginal) {
+        //Populates JSONObject used for writing file
+        for(Map.Entry<String, Object> entry : mapOriginal.entrySet()) {
+            mapFinal.put(entry.getKey(), entry.getValue());
+        }
+
+        try {
+            //Assigns FileWriter object
+            fileW = new FileWriter(FILEPATH);
+
+            //Writes file and then flushes stream
+            fileW.write(mapFinal.toJSONString());
+            fileW.flush();
+
+        } catch(FileNotFoundException fnfe) {
+
+			// System did not find the file in the specified path
+			// Check if file is defined correctly (spelling and path)
+			System.err.println("The file " + FILEPATH + " was not found at its specified path");
+            fnfe.printStackTrace();
+
+			//FAIL
+            return -1;
+        } catch(IOException ioe) {
+
+			// System was not able to perform I/O Operation(s)
+			// Check if the file is marked as read only or is protected in any way
+			// (encryption, etc.)
+			System.err.println("An IOException Occured");
+			ioe.printStackTrace();
+
+			//FAIL
+			return -1;
+        }
+
+        //SUCCESS
+        return 0;
+    }
+
+    /**
+     * <summary> Prints out a visual representation of a HashMap </summary>
+     * 
+     * @param map - Hash map to be printed out
+     */
+    public static void print(HashMap <String, Object> map) {
+
+        //Prints out list of all keys and associated values
+        System.out.println("\n======KEYS AND CONSTANTS======");
+        for (Map.Entry<String, Object> entry : map.entrySet()) {
+            System.out.println("KEY: [" + entry.getKey() + "] = " + entry.getValue() + " of TYPE " + map.get(entry.getKey()).getClass());
+        }
+    }
+
+    /**
+     * <summary> Asks user if they want to commit changes </summary>
+     * 
+     * @return boolean isSaved - Boolean value of 'y' / 'n'.
+     */
+    public static boolean doSave() {
+        //Asks user for input.
+        System.out.println("Would you like to commit changes? [y/n] ");
+        String isSaved = scan.nextLine();
+
+        //return true if y, else return false.
+        if(isSaved.equals("y")) {
+            return true;
+        }
+        return false;
+    }
+}