Class Tunable<T>

java.lang.Object

org.wpilib.tunable.TunableBase

org.wpilib.tunable.Tunable<T>

Type Parameters:

T - value class

All Implemented Interfaces:

Consumer<T>, Supplier<T>

Direct Known Subclasses:

Tunable.TunableProtobuf, Tunable.TunableStruct, Tunable.TunableStructArray

public abstract class Tunable<T>
extends TunableBase
implements Supplier<T>, Consumer<T>

A tunable value.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	Tunable.CustomTunable	A wrapper that exposes an inner tunable implementation.
static class	Tunable.TunableProtobuf<T>	A tunable value serialized with a Protobuf.
static class	Tunable.TunableStruct<T>	A tunable value serialized with a Struct.
static class	Tunable.TunableStructArray<T>	A tunable array of values serialized with a Struct.

Field Summary

Fields inherited from class TunableBase

m_changed

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	Tunable(TunableConfig config)	Constructs a tunable.
protected	Tunable(TunableConfig config, boolean supportsChangeNotification)	Constructs a tunable.

Method Summary

Modifier and Type	Method	Description
void	accept(T value)
static <T> Tunable<T>	create(Supplier<T> getter, Consumer<T> setter, Class<T> cls)	Creates a tunable object with the given getter and setter.
static <T> Tunable<T>	create(T initialValue)	Creates a tunable object with the given initial value.
static <T> Tunable<T>	create(T initialValue, Protobuf<T,?> proto)	Creates a tunable object with a specific Protobuf serializer.
static <T> Tunable<T>	create(T initialValue, Struct<T> struct)	Creates a tunable object with a specific Struct serializer.
static <T> Tunable<T>	createConfig(Supplier<T> getter, Consumer<T> setter, Class<T> cls, TunableConfig config)	Creates a tunable object with the given getter and setter and config.
static <T> Tunable<T>	createConfig(T initialValue, TunableConfig config)	Creates a tunable object with the given config and initial value.
static <T> Tunable<T>	createConfig(T initialValue, Protobuf<T,?> proto, TunableConfig config)	Creates a tunable object with a specific Protobuf serializer.
static <T> Tunable<T>	createConfig(T initialValue, Struct<T> struct, TunableConfig config)	Creates a tunable object with a specific Struct serializer.
static <T> Tunable<T>	createNull(Class<T> cls)	Creates a tunable object with a null initial value.
static <T> Tunable<T>	createNullConfig(Class<T> cls, TunableConfig config)	Creates a tunable object with the given config and a null initial value.
abstract T	get()	Gets the value.
abstract Class<T>	getTypeClass()	Gets the class of the tunable type.
T	mutate()	Gets the value for in-place mutation and marks this tunable changed.
abstract void	set(T value)	Sets the value.

Methods inherited from class TunableBase

getConfig, getProperties, hasChanged, isRobust, markChanged, resetChanged, supportsChangeNotification

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface Consumer

andThen

Constructor Details

Tunable

protected Tunable(TunableConfig config)

Constructs a tunable.

Parameters:

config - tunable config

Tunable

protected Tunable(TunableConfig config,
 boolean supportsChangeNotification)

Constructs a tunable.

Parameters:

config - tunable config

supportsChangeNotification - whether the tunable notifies backends when it changes

Method Details

createNull

public static <T> Tunable<T> createNull(Class<T> cls)

Creates a tunable object with a null initial value.

Type Parameters:

T - data type

Parameters:

cls - class of the tunable type

Returns:

Tunable

createNullConfig

public static <T> Tunable<T> createNullConfig(Class<T> cls,
 TunableConfig config)

Creates a tunable object with the given config and a null initial value.

Type Parameters:

T - data type

Parameters:

cls - class of the tunable type

config - tunable config

Returns:

Tunable

create

public static <T> Tunable<T> create(T initialValue)

Creates a tunable object with the given initial value.

Type Parameters:

T - data type

Parameters:

initialValue - the initial value

Returns:

Tunable

create

public static <T> Tunable<T> create(T initialValue,
 Struct<T> struct)

Creates a tunable object with a specific Struct serializer.

Type Parameters:

T - data type

Parameters:

initialValue - the initial value

struct - struct serializer

Returns:

Tunable

create

public static <T> Tunable<T> create(T initialValue,
 Protobuf<T,?> proto)

Creates a tunable object with a specific Protobuf serializer.

Type Parameters:

T - data type

Parameters:

initialValue - the initial value

proto - protobuf serializer

Returns:

Tunable

create

public static <T> Tunable<T> create(Supplier<T> getter,
 Consumer<T> setter,
 Class<T> cls)

Creates a tunable object with the given getter and setter.

The getter and setter must not throw.

Type Parameters:

T - data type

Parameters:

getter - getter for the tunable value

setter - setter for the tunable value

cls - class of the tunable type

Returns:

Tunable

createConfig

public static <T> Tunable<T> createConfig(T initialValue,
 TunableConfig config)

Creates a tunable object with the given config and initial value.

Type Parameters:

T - data type

Parameters:

initialValue - the initial value

config - tunable config

Returns:

Tunable

createConfig

public static <T> Tunable<T> createConfig(T initialValue,
 Struct<T> struct,
 TunableConfig config)

Creates a tunable object with a specific Struct serializer.

Type Parameters:

T - data type

Parameters:

initialValue - the initial value (may be null)

struct - struct serializer

config - tunable config

Returns:

Tunable

createConfig

public static <T> Tunable<T> createConfig(T initialValue,
 Protobuf<T,?> proto,
 TunableConfig config)

Creates a tunable object with a specific Protobuf serializer.

Type Parameters:

T - data type

Parameters:

initialValue - the initial value (may be null)

proto - protobuf serializer

config - tunable config

Returns:

Tunable

createConfig

public static <T> Tunable<T> createConfig(Supplier<T> getter,
 Consumer<T> setter,
 Class<T> cls,
 TunableConfig config)

Creates a tunable object with the given getter and setter and config.

The getter and setter must not throw.

Type Parameters:

T - data type

Parameters:

getter - getter for the tunable value

setter - setter for the tunable value

cls - class of the tunable type

config - tunable config

Returns:

Tunable

set

public abstract void set(T value)

Sets the value.

Implementations must not throw.

Parameters:

value - value

get

public abstract T get()

Gets the value.

Implementations must not throw.

Specified by:

get in interface Supplier<T>

Returns:

value

mutate

public T mutate()

Gets the value for in-place mutation and marks this tunable changed.

This is useful for mutable structured/protobuf values where modifying the object returned by get() would otherwise bypass set(Object) and not notify backends. For immutable values, prefer set(Object). For variable-length arrays, use set(Object) with a new array to change the length.

Returns:

mutable value

accept

public void accept(T value)

Specified by:

accept in interface Consumer<T>

getTypeClass

public abstract Class<T> getTypeClass()

Gets the class of the tunable type. This is used for determining which type handler to use.

Returns:

class of the tunable type