Add support for config profiles

Active profile is specified in profile.yml
Separate folders are created for each profile
Closes #40

Author: Tony Brar

config/default/commands.yml

@@ -0,0 +1,8 @@
+# example custom commands config file
+TurretShoot:
+  kingRollerPower: 1.0
+  timeout: 2.1
+
+NewTree:
+  key1: value1
+  key2: value2

config/profile.yml

@@ -0,0 +1 @@
+default

core/src/main/java/org/teamtators/rotator/config/ConfigLoader.java

@@ -2,6 +2,7 @@
 
 import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.node.ObjectNode;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -11,6 +12,7 @@
 import java.io.FileInputStream;
 import java.io.IOException;
 import java.io.InputStream;
+import java.util.Iterator;
 
 public class ConfigLoader {
     private static final Logger logger = LoggerFactory.getLogger(ConfigLoader.class);
@@ -33,4 +35,51 @@ public JsonNode load(String fileName) {
             throw new ConfigException(String.format("Error loading config %s", fileName), e);
         }
     }
+
+    /**
+     * Get a config, modified for the specified profile
+     *
+     * @param configName  Config to get
+     * @param profileName Profile to apply
+     * @return Combined config for profile
+     */
+    public JsonNode getProfileConfig(String configName, String profileName) {
+        // TODO: check if that profile even exists
+        JsonNode mainConfig = load(configName);
+        File f = new File(configDir + File.separator + profileName + File.separator + configName);
+        // check if we should just use default config
+        if (profileName.equals("empty") || !f.exists()) {
+            return mainConfig;
+        } else {
+            JsonNode profileConfig = load(profileName + File.separator + configName);
+            return mergeNodes(mainConfig, profileConfig);
+        }
+    }
+
+    /**
+     * Combine two JsonNodes
+     *
+     * @param mainNode   Node to merge into
+     * @param updateNode Node to merge with
+     * @return Combined node
+     */
+    public static JsonNode mergeNodes(JsonNode mainNode, JsonNode updateNode) {
+        Iterator<String> fieldNames = updateNode.fieldNames();
+        while (fieldNames.hasNext()) {
+            String fieldName = fieldNames.next();
+            JsonNode jsonNode = mainNode.get(fieldName);
+            // if field exists and is an embedded object
+            if (jsonNode != null && jsonNode.isObject()) {
+                // recurse into embedded object
+                mergeNodes(jsonNode, updateNode.get(fieldName));
+            } else {
+                if (mainNode instanceof ObjectNode) {
+                    // overwrite field
+                    JsonNode value = updateNode.get(fieldName);
+                    ((ObjectNode) mainNode).replace(fieldName, value);
+                }
+            }
+        }
+        return mainNode;
+    }
 }

desktop/src/main/java/org/teamtators/rotator/Main.java

@@ -45,10 +45,12 @@ public void start() {
 
         commandStore.setRobot(robot);
 
-        logger.debug("Loading configs");
-        ObjectNode commandsConfig = (ObjectNode) configLoader.load("commands.yml");
-        ObjectNode simulationConfig = (ObjectNode) configLoader.load("simulation.yml");
-        ObjectNode triggersConfig = (ObjectNode) configLoader.load("triggers.yml");
+        String profileName = configLoader.load("profile.yml").textValue();
+        logger.debug("Loading configs with profile {}");
+        ObjectNode commandsConfig = (ObjectNode) configLoader.getProfileConfig("commands.yml", profileName);
+        ObjectNode simulationConfig = (ObjectNode) configLoader.getProfileConfig("subsystems.yml", profileName);
+        ObjectNode triggersConfig = (ObjectNode) configLoader.getProfileConfig("triggers.yml", profileName);
+        logger.debug("Finished loading configs");
 
         logger.debug("Configuring subsystems");
         for (Subsystem subsystem : robot.subsystems()) {

rio/src/main/java/org/teamtators/rotator/Robot.java

@@ -65,10 +65,12 @@ private void initialize() {
         commandStore.setRobot(robot);
 
         logger.debug("Created injector. Loading configs");
-        ObjectNode commandsConfig = (ObjectNode) configLoader.load("commands.yml");
-        ObjectNode subsystemsConfig = (ObjectNode) configLoader.load("subsystems.yml");
-        ObjectNode triggersConfig = (ObjectNode) configLoader.load("triggers.yml");
-
+        String profileName = configLoader.load("profile.yml").textValue();
+        logger.debug("Currently active config profile: {}", profileName);
+        ObjectNode commandsConfig = (ObjectNode) configLoader.getProfileConfig("commands.yml", profileName);
+        ObjectNode subsystemsConfig = (ObjectNode) configLoader.getProfileConfig("subsystems.yml", profileName);
+        ObjectNode triggersConfig = (ObjectNode) configLoader.getProfileConfig("triggers.yml", profileName);
+        logger.debug("Completed loading configs");
 
         logger.debug("Configuring subsystems");
         for (Subsystem subsystem : subsystems) {