From 02c07393a9c9328bc017dae5f8edee2a7125e92b Mon Sep 17 00:00:00 2001
From: Kevin Cooney <kcooney@gmail.com>
Date: Sat, 3 Jan 2026 18:27:17 -0800
Subject: [PATCH] Store int preferences as NetworkTableType.kInteger

---
 .../preferences/PersistedConfiguration.java   |  89 ++++++++++--
 .../PersistedConfigurationTest.java           | 128 ++++++++++++------
 2 files changed, 165 insertions(+), 52 deletions(-)

diff --git a/lib/src/main/java/com/team2813/lib2813/preferences/PersistedConfiguration.java b/lib/src/main/java/com/team2813/lib2813/preferences/PersistedConfiguration.java
index 7df3ecca..5c4ab105 100644
--- a/lib/src/main/java/com/team2813/lib2813/preferences/PersistedConfiguration.java
+++ b/lib/src/main/java/com/team2813/lib2813/preferences/PersistedConfiguration.java
@@ -20,6 +20,7 @@
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTableType;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Preferences;
@@ -31,8 +32,8 @@
 /**
  * Initializes the fields of a Record Class from values stored in {@link Preferences}.
  *
- * <p>The Preference values can be updated in the Elastic. Updated values will be stored in the
- * flash storage for the robot.
+ * <p>The Preference values can be updated in Elastic and other dashboards. Updated values will be
+ * stored in the flash storage for the robot.
  *
  * <p>Example use:
  *
@@ -41,7 +42,7 @@
  *
  *   public record DriveConfiguration(
  *       boolean addVisionMeasurements, long robotWeight,
- *       DoubleSupplier powerMultiplier) {
+ *       double maxSpeed, String name) {
  *
  *     public static DriveConfiguration fromPreferences() {
  *       return PersistedConfiguration.fromPreferences("Drive", DriveConfiguration.class);
@@ -56,7 +57,8 @@
  * <ul>
  *   <li>{@code "Drive/addVisionMeasurements"}
  *   <li>{@code "Drive/robotWeight"}
- *   <li>{@code "Drive/powerMultiplier"}
+ *   <li>{@code "Drive/maxSpeed"}
+ *   <li>{@code "Drive/name"}
  * </ul>
  *
  * <p>If no value is stored in Preferences for a key, the default value returned (and initialized in
@@ -67,9 +69,30 @@
  * <ul>
  *   <li>{@code "Drive/addVisionMeasurements"}: {@code false}
  *   <li>{@code "Drive/robotWeight"}: {@code 0}
- *   <li>{@code "Drive/powerMultiplier"}: {@code 0.0}
+ *   <li>{@code "Drive/maxSpeed"}: {@code 0.0}
+ *   <li>{@code "Drive/name"}: {@code ""}
  * </ul>
  *
+ * <p>The record class could also contain suppliers:
+ *
+ * <pre>{@code
+ * public final class Drive {
+ *
+ *   public record DriveConfiguration(
+ *       boolean addVisionMeasurements, LongSupplier robotWeight,
+ *       DoubleSupplier powerMultiplier) {
+ *
+ *     public static DriveConfiguration fromPreferences() {
+ *       return PersistedConfiguration.fromPreferences("Drive", DriveConfiguration.class);
+ *     }
+ *   }
+ * }
+ * }</pre>
+ *
+ * <p>In the above example, {@code fromPreferences()} would return a record instance that contained
+ * suppliers that, when queried, would return the current value in the "Preferences" NetworkTables
+ * table.
+ *
  * <p>The caller could specify different default values by passing an instance of the record class:
  *
  * <pre>{@code
@@ -97,15 +120,17 @@
  *   <li>{@code "Drive/maxAngularVelocity"} (default value: {@code 3.14})
  * </ul>
  *
+ * <p>Note that {@code PersistedConfiguration} will use the default record constructor to create
+ * record instances, so any parameter validation should be done in a custom constructor; see <a
+ * href="https://www.baeldung.com/java-records-custom-constructor">Custom Constructor in Java
+ * Records</a> for details.
+ *
  * <p>For record classes with many component values of the same type, it is strongly recommended
  * that a builder is provided to construct the record, to avoid callers passing the parameters in
  * the wrong order. To make generation of a builder easier, consider using <a
  * href="https://github.com/google/auto/blob/main/value/userguide/autobuilder.md">{@code @AutoBuilder}</a>
  * from Google Auto or <a href="https://projectlombok.org/features/Builder">{@code @Builder}</a>
- * from Project Lombok. Note that {@code PersistedConfiguration} will use the default record
- * constructor to create record instances, so any parameter validation should be done in a custom
- * constructor; see <a href="https://www.baeldung.com/java-records-custom-constructor">Custom
- * Constructor in Java Records</a> for details.
+ * from Project Lombok.
  *
  * @since 2.0.0
  */
@@ -164,7 +189,7 @@ public static <T extends Record> T fromPreferences(String preferenceName, T conf
    * </ul>
    *
    * <p>The default values for the preferences will be Java defaults (for example, zero for
-   * integers).
+   * integers, an empty string for strings, etc.).
    *
    * @param preferenceName Preference subtable to use to get the values.
    * @param recordClass Type of the record instance to populate from preferences.
@@ -421,10 +446,10 @@ private static int intFactory(
       if (defaultValue == null) {
         defaultValue = 0;
       }
-      Preferences.initInt(key, defaultValue);
+      initIntegerPreference(key, defaultValue);
       return defaultValue;
     }
-    return Preferences.getInt(key, 0);
+    return getIntegerPreference(key);
   }
 
   /** Gets a IntSupplier value from Preferences for the given component. */
@@ -432,9 +457,9 @@ private static IntSupplier intSupplierFactory(
       RecordComponent component, String key, IntSupplier defaultValueSupplier, boolean initialize) {
     if (initialize) {
       int defaultValue = defaultValueSupplier != null ? defaultValueSupplier.getAsInt() : 0;
-      Preferences.initInt(key, defaultValue);
+      initIntegerPreference(key, defaultValue);
     }
-    return () -> Preferences.getInt(key, 0);
+    return () -> getIntegerPreference(key);
   }
 
   /** Gets a long value from Preferences for the given component. */
@@ -550,6 +575,42 @@ private static void deleteLegacyKeys() {
     }
   }
 
+  /**
+   * Puts the given int into the preferences table if it doesn't already exist.
+   *
+   * <p>Unlike with {@link Preferences#initInt(String, int)}, the value is stored as an integer, not
+   * a double.
+   *
+   * @param key The key
+   * @param value The value
+   */
+  private static void initIntegerPreference(String key, int value) {
+    NetworkTable table = Preferences.getNetworkTable();
+    NetworkTableEntry entry = table.getEntry(key);
+    if (NetworkTableType.kDouble.equals(entry.getType())) {
+      // If we get here that should mean there is a value for this key, so the default value should
+      // be ignored. We update the default value just in case, if nothing else than to be
+      // consistent with the Preferences "init" methods.
+      entry.setDefaultDouble(value);
+    } else {
+      entry.setDefaultInteger(value);
+    }
+    entry.setPersistent();
+  }
+
+  /**
+   * Returns the value at the given key, as an int. If this table does not have a value for that
+   * position, then a value of zero will be returned.
+   *
+   * @param key the key
+   * @return either the value in the table, or zero
+   */
+  private static int getIntegerPreference(String key) {
+    NetworkTable table = Preferences.getNetworkTable();
+    NetworkTableEntry entry = table.getEntry(key);
+    return (int) entry.getInteger(0);
+  }
+
   /**
    * Emits a warning, usually via {@link DataLogManager}.
    *
diff --git a/lib/src/test/java/com/team2813/lib2813/preferences/PersistedConfigurationTest.java b/lib/src/test/java/com/team2813/lib2813/preferences/PersistedConfigurationTest.java
index f54c32a8..b1ddebf2 100644
--- a/lib/src/test/java/com/team2813/lib2813/preferences/PersistedConfigurationTest.java
+++ b/lib/src/test/java/com/team2813/lib2813/preferences/PersistedConfigurationTest.java
@@ -79,6 +79,35 @@ protected enum ValuesKind {
       UPDATED_VALUES
     }
 
+    private NetworkTableEntry getTableEntry(String key, NetworkTableType expectedType) {
+      NetworkTableEntry entry = isolatedPreferences.getPreferencesTable().getEntry(key);
+      assertThat(entry.getType()).isEqualTo(expectedType);
+      return entry;
+    }
+
+    protected final boolean getBooleanValue(String key, boolean defaultValue) {
+      return getTableEntry(key, NetworkTableType.kBoolean).getBoolean(defaultValue);
+    }
+
+    protected final long getIntegerValue(String key) {
+      return getTableEntry(key, NetworkTableType.kInteger).getInteger(-1);
+    }
+
+    protected final double getDoubleValue(String key) {
+      return getTableEntry(key, NetworkTableType.kDouble).getDouble(-1);
+    }
+
+    protected final String getStringValue(String key) {
+      return getTableEntry(key, NetworkTableType.kString).getString("defaultValue");
+    }
+
+    protected final void setIntegerValue(String key, int value) {
+      NetworkTable table = isolatedPreferences.getPreferencesTable();
+      NetworkTableEntry entry = table.getEntry(key);
+      entry.setInteger(value);
+      entry.setPersistent();
+    }
+
     protected final void assertHasNoChangesSince(Map<String, Object> previousValues) {
       var preferenceValues = preferenceValues();
       assertWithMessage("Unexpected no changes to preference values")
@@ -359,7 +388,7 @@ protected void assertPreferencesHaveConfiguredDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(BOOLEAN_VALUE_KEY, BOOLEAN_SUPPLIER_KEY, SUPPLIER_BOOLEAN_KEY);
       for (String key : ALL_KEYS) {
-        assertThat(Preferences.getBoolean(key, !defaultValue)).isEqualTo(defaultValue);
+        assertThat(getBooleanValue(key, !defaultValue)).isEqualTo(defaultValue);
       }
     }
 
@@ -375,7 +404,7 @@ protected void assertPreferencesHaveJavaDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(BOOLEAN_VALUE_KEY, BOOLEAN_SUPPLIER_KEY, SUPPLIER_BOOLEAN_KEY);
       for (String key : ALL_KEYS) {
-        assertThat(Preferences.getBoolean(key, true)).isFalse();
+        assertThat(getBooleanValue(key, true)).isFalse();
       }
     }
 
@@ -410,15 +439,23 @@ protected void assertSuppliersHaveUpdatedValues(RecordWithBooleans record) {
     }
   }
 
+  @RunWith(Parameterized.class)
   public static class IntPreferencesTest
       extends PreferencesRegistryTestCase<IntPreferencesTest.RecordWithInts> {
     static final String PREFERENCE_NAME = "Integers";
     static final String INT_VALUE_KEY = "Integers/intValue";
     static final String INT_SUPPLIER_KEY = "Integers/intSupplier";
     static final String SUPPLIER_INT_KEY = "Integers/supplierInt";
+    final boolean storeAsDoubles;
+
+    @Parameters(name = "storeAsDoubles={0}")
+    public static Object[] data() {
+      return new Object[] {true, false};
+    }
 
-    public IntPreferencesTest() {
+    public IntPreferencesTest(boolean storeAsDoubles) {
       super(PREFERENCE_NAME, RecordWithInts.class);
+      this.storeAsDoubles = storeAsDoubles;
     }
 
     /** Test record for testing classes that contain int fields. */
@@ -447,9 +484,9 @@ protected void assertHasConfiguredDefaults(RecordWithInts record) {
     protected void assertPreferencesHaveConfiguredDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(INT_VALUE_KEY, INT_SUPPLIER_KEY, SUPPLIER_INT_KEY);
-      assertThat(Preferences.getInt(INT_VALUE_KEY, -1)).isEqualTo(1);
-      assertThat(Preferences.getInt(INT_SUPPLIER_KEY, -1)).isEqualTo(2);
-      assertThat(Preferences.getInt(SUPPLIER_INT_KEY, -1)).isEqualTo(3);
+      assertThat(getIntegerValue(INT_VALUE_KEY)).isEqualTo(1);
+      assertThat(getIntegerValue(INT_SUPPLIER_KEY)).isEqualTo(2);
+      assertThat(getIntegerValue(SUPPLIER_INT_KEY)).isEqualTo(3);
     }
 
     @Override
@@ -463,23 +500,38 @@ protected void assertHasJavaDefaults(RecordWithInts record) {
     protected void assertPreferencesHaveJavaDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(INT_VALUE_KEY, INT_SUPPLIER_KEY, SUPPLIER_INT_KEY);
-      assertThat(Preferences.getInt(INT_VALUE_KEY, -1)).isEqualTo(0);
-      assertThat(Preferences.getInt(INT_SUPPLIER_KEY, -1)).isEqualTo(0);
-      assertThat(Preferences.getInt(SUPPLIER_INT_KEY, -1)).isEqualTo(0);
+      assertThat(getIntegerValue(INT_VALUE_KEY)).isEqualTo(0);
+      assertThat(getIntegerValue(INT_SUPPLIER_KEY)).isEqualTo(0);
+      assertThat(getIntegerValue(SUPPLIER_INT_KEY)).isEqualTo(0);
     }
 
     @Override
     protected void updatePreferenceValues(ValuesKind kind) {
-      switch (kind) {
-        case INITIAL_VALUES -> {
-          Preferences.setInt(INT_VALUE_KEY, 101);
-          Preferences.setInt(INT_SUPPLIER_KEY, 102);
-          Preferences.setInt(SUPPLIER_INT_KEY, 103);
+      if (storeAsDoubles) {
+        switch (kind) {
+          case INITIAL_VALUES -> {
+            Preferences.setDouble(INT_VALUE_KEY, 101);
+            Preferences.setDouble(INT_SUPPLIER_KEY, 102);
+            Preferences.setDouble(SUPPLIER_INT_KEY, 103);
+          }
+          case UPDATED_VALUES -> {
+            Preferences.setDouble(INT_VALUE_KEY, 201);
+            Preferences.setDouble(INT_SUPPLIER_KEY, 202);
+            Preferences.setDouble(SUPPLIER_INT_KEY, 203);
+          }
         }
-        case UPDATED_VALUES -> {
-          Preferences.setInt(INT_VALUE_KEY, 201);
-          Preferences.setInt(INT_SUPPLIER_KEY, 202);
-          Preferences.setInt(SUPPLIER_INT_KEY, 203);
+      } else {
+        switch (kind) {
+          case INITIAL_VALUES -> {
+            setIntegerValue(INT_VALUE_KEY, 101);
+            setIntegerValue(INT_SUPPLIER_KEY, 102);
+            setIntegerValue(SUPPLIER_INT_KEY, 103);
+          }
+          case UPDATED_VALUES -> {
+            setIntegerValue(INT_VALUE_KEY, 201);
+            setIntegerValue(INT_SUPPLIER_KEY, 202);
+            setIntegerValue(SUPPLIER_INT_KEY, 203);
+          }
         }
       }
     }
@@ -544,9 +596,9 @@ protected void assertHasConfiguredDefaults(RecordWithLongs record) {
     protected void assertPreferencesHaveConfiguredDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(LONG_VALUE_KEY, LONG_SUPPLIER_KEY, SUPPLIER_LONG_KEY);
-      assertThat(Preferences.getLong(LONG_VALUE_KEY, -1)).isEqualTo(1);
-      assertThat(Preferences.getLong(LONG_SUPPLIER_KEY, -1)).isEqualTo(2);
-      assertThat(Preferences.getLong(SUPPLIER_LONG_KEY, -1)).isEqualTo(3);
+      assertThat(getIntegerValue(LONG_VALUE_KEY)).isEqualTo(1);
+      assertThat(getIntegerValue(LONG_SUPPLIER_KEY)).isEqualTo(2);
+      assertThat(getIntegerValue(SUPPLIER_LONG_KEY)).isEqualTo(3);
     }
 
     @Override
@@ -560,9 +612,9 @@ protected void assertHasJavaDefaults(RecordWithLongs record) {
     protected void assertPreferencesHaveJavaDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(LONG_VALUE_KEY, LONG_SUPPLIER_KEY, SUPPLIER_LONG_KEY);
-      assertThat(Preferences.getLong(LONG_VALUE_KEY, -1)).isEqualTo(0);
-      assertThat(Preferences.getLong(LONG_SUPPLIER_KEY, -1)).isEqualTo(0);
-      assertThat(Preferences.getLong(SUPPLIER_LONG_KEY, -1)).isEqualTo(0);
+      assertThat(getIntegerValue(LONG_VALUE_KEY)).isEqualTo(0);
+      assertThat(getIntegerValue(LONG_SUPPLIER_KEY)).isEqualTo(0);
+      assertThat(getIntegerValue(SUPPLIER_LONG_KEY)).isEqualTo(0);
     }
 
     @Override
@@ -642,9 +694,9 @@ protected void assertHasConfiguredDefaults(RecordWithDoubles record) {
     protected void assertPreferencesHaveConfiguredDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(DOUBLE_VALUE_KEY, DOUBLE_SUPPLIER_KEY, SUPPLIER_DOUBLE_KEY);
-      assertThat(Preferences.getDouble(DOUBLE_VALUE_KEY, -1)).isWithin(EPSILON).of(3.14159);
-      assertThat(Preferences.getDouble(DOUBLE_SUPPLIER_KEY, -1)).isWithin(EPSILON).of(2.71828);
-      assertThat(Preferences.getDouble(SUPPLIER_DOUBLE_KEY, -1)).isWithin(EPSILON).of(6.28318);
+      assertThat(getDoubleValue(DOUBLE_VALUE_KEY)).isWithin(EPSILON).of(3.14159);
+      assertThat(getDoubleValue(DOUBLE_SUPPLIER_KEY)).isWithin(EPSILON).of(2.71828);
+      assertThat(getDoubleValue(SUPPLIER_DOUBLE_KEY)).isWithin(EPSILON).of(6.28318);
     }
 
     @Override
@@ -658,9 +710,9 @@ protected void assertHasJavaDefaults(RecordWithDoubles record) {
     protected void assertPreferencesHaveJavaDefaults() {
       assertThat(preferenceKeys())
           .containsExactly(DOUBLE_VALUE_KEY, DOUBLE_SUPPLIER_KEY, SUPPLIER_DOUBLE_KEY);
-      assertThat(Preferences.getDouble(DOUBLE_VALUE_KEY, -1)).isWithin(EPSILON).of(0);
-      assertThat(Preferences.getDouble(DOUBLE_SUPPLIER_KEY, -1)).isWithin(EPSILON).of(0);
-      assertThat(Preferences.getDouble(SUPPLIER_DOUBLE_KEY, -1)).isWithin(EPSILON).of(0);
+      assertThat(getDoubleValue(DOUBLE_VALUE_KEY)).isWithin(EPSILON).of(0);
+      assertThat(getDoubleValue(DOUBLE_SUPPLIER_KEY)).isWithin(EPSILON).of(0);
+      assertThat(getDoubleValue(SUPPLIER_DOUBLE_KEY)).isWithin(EPSILON).of(0);
     }
 
     @Override
@@ -733,8 +785,8 @@ protected void assertHasConfiguredDefaults(RecordWithStrings record) {
     @Override
     protected void assertPreferencesHaveConfiguredDefaults() {
       assertThat(preferenceKeys()).containsExactly(STRING_VALUE_KEY, SUPPLIER_STRING_KEY);
-      assertThat(Preferences.getString(STRING_VALUE_KEY, "")).isEqualTo("chicken");
-      assertThat(Preferences.getString(SUPPLIER_STRING_KEY, "")).isEqualTo("bus");
+      assertThat(getStringValue(STRING_VALUE_KEY)).isEqualTo("chicken");
+      assertThat(getStringValue(SUPPLIER_STRING_KEY)).isEqualTo("bus");
     }
 
     @Override
@@ -746,8 +798,8 @@ protected void assertHasJavaDefaults(RecordWithStrings record) {
     @Override
     protected void assertPreferencesHaveJavaDefaults() {
       assertThat(preferenceKeys()).containsExactly(STRING_VALUE_KEY, SUPPLIER_STRING_KEY);
-      assertThat(Preferences.getString(STRING_VALUE_KEY, "default")).isEmpty();
-      assertThat(Preferences.getString(SUPPLIER_STRING_KEY, "default")).isEmpty();
+      assertThat(getStringValue(STRING_VALUE_KEY)).isEmpty();
+      assertThat(getStringValue(SUPPLIER_STRING_KEY)).isEmpty();
     }
 
     @Override
@@ -814,8 +866,8 @@ protected void assertHasConfiguredDefaults(RecordWithRecords record) {
     @Override
     protected void assertPreferencesHaveConfiguredDefaults() {
       assertThat(preferenceKeys()).containsExactly(stringValueKey, longValueKey);
-      assertThat(Preferences.getString(stringValueKey, "")).isEqualTo("The Answer");
-      assertThat(Preferences.getLong(longValueKey, -1)).isEqualTo(42);
+      assertThat(getStringValue(stringValueKey)).isEqualTo("The Answer");
+      assertThat(getIntegerValue(longValueKey)).isEqualTo(42);
     }
 
     @Override
@@ -827,8 +879,8 @@ protected void assertHasJavaDefaults(RecordWithRecords record) {
     @Override
     protected void assertPreferencesHaveJavaDefaults() {
       assertThat(preferenceKeys()).containsExactly(stringValueKey, longValueKey);
-      assertThat(Preferences.getString(stringValueKey, "default")).isEmpty();
-      assertThat(Preferences.getLong(longValueKey, -1)).isEqualTo(0);
+      assertThat(getStringValue(stringValueKey)).isEmpty();
+      assertThat(getIntegerValue(longValueKey)).isEqualTo(0);
     }
 
     @Override