/**
* If we set some values using the Preferences class, test that they show up
* in networktables.ini
*/
TEST(PreferencesTest, WritePreferencesToFile) {
NetworkTable::Shutdown();
NetworkTable::GlobalDeleteAll();
// persistent keys don't get deleted normally, so make remaining keys
// non-persistent and delete them too
for (const auto& info : nt::GetEntryInfo("", 0)) {
nt::SetEntryFlags(info.name, 0);
}
NetworkTable::GlobalDeleteAll();
std::remove(kFileName);
NetworkTable::Initialize();
Preferences* preferences = Preferences::GetInstance();
preferences->PutString("testFilePutString", "Hello, preferences file");
preferences->PutInt("testFilePutInt", 1);
preferences->PutDouble("testFilePutDouble", 0.5);
preferences->PutFloat("testFilePutFloat", 0.25f);
preferences->PutBoolean("testFilePutBoolean", true);
preferences->PutLong("testFilePutLong", 1000000000000000000ll);
preferences->Save();
Wait(kSaveTime);
static char const* kExpectedFileContents[] = {
"[NetworkTables Storage 3.0]",
"boolean \"/Preferences/testFilePutBoolean\"=true",
"double \"/Preferences/testFilePutDouble\"=0.5",
"double \"/Preferences/testFilePutFloat\"=0.25",
"double \"/Preferences/testFilePutInt\"=1",
"double \"/Preferences/testFilePutLong\"=1e+18",
"string \"/Preferences/testFilePutString\"=\"Hello, preferences file\""};
std::ifstream preferencesFile(kFileName);
for (auto& kExpectedFileContent : kExpectedFileContents) {
ASSERT_FALSE(preferencesFile.eof())
<< "Preferences file prematurely reached EOF";
std::string line;
std::getline(preferencesFile, line);
ASSERT_EQ(kExpectedFileContent, line)
<< "A line in networktables.ini was not correct";
}
}
Shooter::Shooter( MyRobot& theRobot, int bottom_motor_channel, int top_motor_channel,
int bottom_geartooth_channel, int top_geartooth_channel,
int injector_channel ) :
m_robot(theRobot),
motor_bottom(bottom_motor_channel),
motor_top(top_motor_channel),
geartooth_bottom(bottom_geartooth_channel),
geartooth_top(top_geartooth_channel),
injector(injector_channel),
pid_p(SHOOTER_P), pid_i(SHOOTER_I), pid_d(SHOOTER_D), drive_ratio(DRIVE_RATIO),
tolerance(TOLERANCE), shot_time(SHOT_TIME), release_time(RELEASE_TIME),
pid_bottom( pid_p, pid_i, pid_d, &geartooth_bottom, &motor_bottom ),
pid_top( pid_p, pid_i, pid_d, &geartooth_top, &motor_top ),
m_auto(false), m_speed(0.0F),
speed_bottom(0.0F), speed_top(0.0F),
running(false),
shooting(kIdle)
{
Preferences *pref = Preferences::GetInstance();
bool saveNeeded = false;
printf("In Shooter constructor, pref = 0x%p\n", pref);
if (!pref->ContainsKey( "Shooter.pid_p" )) {
pref->PutDouble( "Shooter.pid_p", SHOOTER_P );
printf("Preferences: save P\n");
saveNeeded = true;
}
if (!pref->ContainsKey( "Shooter.pid_i" )) {
pref->PutDouble( "Shooter.pid_i", SHOOTER_I );
printf("Preferences: save I\n");
saveNeeded = true;
}
if (!pref->ContainsKey( "Shooter.pid_d" )) {
pref->PutDouble( "Shooter.pid_d", SHOOTER_D );
printf("Preferences: save D\n");
saveNeeded = true;
}
if (!pref->ContainsKey( "Shooter.drive_ratio" )) {
pref->PutDouble( "Shooter.drive_ratio", DRIVE_RATIO );
printf("Preferences: save drive_ratio\n");
saveNeeded = true;
}
if (!pref->ContainsKey( "Shooter.tolerance" )) {
pref->PutDouble( "Shooter.tolerance", TOLERANCE );
printf("Preferences: save tolerance\n");
saveNeeded = true;
}
if (!pref->ContainsKey( "Shooter.shot_time" )) {
pref->PutDouble( "Shooter.shot_time", SHOT_TIME );
printf("Preferences: save shot_time\n");
saveNeeded = true;
}
if (!pref->ContainsKey( "Shooter.release_time" )) {
pref->PutDouble( "Shooter.release_time", RELEASE_TIME );
printf("Preferences: save release_time\n");
saveNeeded = true;
}
if (saveNeeded) {
pref->Save();
printf("Preferences: saved\n");
}
InitShooter();
}