engagement_generation: engagement_generation/src/edu/wpi/hri/gen/GenerationParams.java Source File

00001 /*
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00034 package edu.wpi.hri.gen;
00035 
00036 import java.util.Hashtable;
00037 
00038 import ros.Ros;
00039 
00049 public enum GenerationParams {
00050         // FIRST the testing params for this enum
00052         _TEST_BOOL_("_test_bool_", Type.BOOLEAN),
00054         _TEST_INT_("_test_int_", Type.INT),
00056         _TEST_DOUBLE_("_test_double_", Type.DOUBLE),
00058         _TEST_STRING_("_test_string_", Type.STRING),
00059         // then the actual params which can come from the ROS network stuff
00060         // first the logger information
00062         DEBUG_LEVEL("debug_level", Type.STRING),
00064         LOGGER_TYPE("logger_type", Type.STRING),
00065         // then how to talk to recognition
00067         ROBOT_AP_PATH("robot_ap_path", Type.STRING),
00069         ROBOT_DG_PATH("robot_dg_path", Type.STRING),
00071         ROBOT_MFG_PATH("robot_mfg_path", Type.STRING),
00073         HUMAN_AP_PATH("human_ap_path", Type.STRING),
00075         HUMAN_DG_PATH("human_dg_path", Type.STRING),
00077         HUMAN_MFG_PATH("human_mfg_path", Type.STRING),
00078         // then how to talk to the bml realizer
00080         BML_EMIT_PATH("bml_emit_path", Type.STRING),
00081         // then reliability information for references
00083         RELIABILITY_SPEECH("reliability/speech", Type.DOUBLE),
00085         RELIABILITY_GAZE("reliability/gaze", Type.DOUBLE),
00087         RELIABILITY_DIRECTED_GAZE("reliability/directed_gaze", Type.DOUBLE),
00089         RELIABILITY_DIRECTED_GAZE_POINTING("reliability/directed_gaze_pointing",
00090                         Type.DOUBLE),
00091         // then situation specific information
00093         ROBOT_SHOULDER_LENGTH("robot/shoulder_length", Type.DOUBLE),
00095         ROBOT_SHOULDER_HEIGHT("robot/shoulder_height", Type.DOUBLE),
00097         ROBOT_ARM_LENGTH("robot/arm_length", Type.DOUBLE),
00099         ROBOT_HEAD_HEIGHT("robot/head_height", Type.DOUBLE),
00100         // then all of the constants that are required
00102         CONSTANT_GAZE_COST_FACTOR("constant/gaze_cost_factor", Type.DOUBLE),
00104         CONSTANT_POINT_COST_FACTOR("constant/point_cost_factor", Type.DOUBLE),
00106         CONSTANT_GAZE_DISTRACTOR_DISTANCE("constant/gaze_distractor_distance",
00107                         Type.DOUBLE),
00112         CONSTANT_POINT_DISTRACTOR_DISTANCE("constant/point_distractor_distance",
00113                         Type.DOUBLE),
00114         // then glancing information
00119         GLANCE_DELAY_FACTOR("constant/glance_delay_factor", Type.DOUBLE),
00124         GLANCE_DURATION_MS("constant/glance_duration_ms", Type.INT),
00126         GLANCE_DELAY_MAX("constant/glance_delay_max", Type.INT),
00128         GLANCE_DELAY_MIN("constant/glance_delay_min", Type.INT),
00130         RUN_FULL("run_full", Type.BOOLEAN);
00131 
00133         private static final ParamTable<Boolean> boolParam = new ParamTable<Boolean>(
00134                         false);
00136         private static final ParamTable<Integer> intParam = new ParamTable<Integer>(
00137                         0);
00139         private static final ParamTable<Double> doubleParam = new ParamTable<Double>(
00140                         0.0);
00142         private static final ParamTable<String> stringParam = new ParamTable<String>(
00143                         "");
00144 
00145         // private stuff from here
00146         public static final String NAMESPACE = "generation/conf";
00147         private final String param;
00148         private final Type type;
00149 
00158         private GenerationParams(String param, Type type) {
00159                 this.param = param;
00160                 this.type = type;
00161         }
00162 
00169         public void setBoolean(boolean value) {
00170                 if (this.type == Type.BOOLEAN)
00171                         boolParam.set(this.param, value);
00172         }
00173 
00180         public void setDouble(double value) {
00181                 if (this.type == Type.DOUBLE)
00182                         doubleParam.set(this.param, value);
00183         }
00184 
00191         public void setInt(int value) {
00192                 if (this.type == Type.INT)
00193                         intParam.set(this.param, value);
00194         }
00195 
00202         public void setString(String value) {
00203                 if (this.type == Type.STRING)
00204                         stringParam.set(this.param, value);
00205         }
00206 
00212         public boolean getBoolean() {
00213                 if (this.type == Type.BOOLEAN)
00214                         try {
00215                                 return Ros.getInstance().createNodeHandle(NAMESPACE)
00216                                                 .getBooleanParam(this.param, false);
00217                         } catch (Exception e) {
00218                                 return boolParam.get(this.param);
00219                         }
00220                 else
00221                         return false;
00222         }
00223 
00229         public double getDouble() {
00230                 if (this.type == Type.DOUBLE)
00231                         try {
00232                                 return Ros.getInstance().createNodeHandle(NAMESPACE)
00233                                                 .getDoubleParam(this.param, false);
00234                         } catch (Exception e) {
00235                                 return doubleParam.get(this.param);
00236                         }
00237                 else
00238                         return 0.0;
00239         }
00240 
00246         public int getInt() {
00247                 if (this.type == Type.INT)
00248                         try {
00249                                 return Ros.getInstance().createNodeHandle(NAMESPACE)
00250                                                 .getIntParam(this.param, false);
00251                         } catch (Exception e) {
00252                                 return intParam.get(this.param);
00253                         }
00254                 else
00255                         return 0;
00256         }
00257 
00263         public String getString() {
00264                 if (this.type == Type.STRING)
00265                         try {
00266                                 return Ros.getInstance().createNodeHandle(NAMESPACE)
00267                                                 .getStringParam(this.param, false);
00268                         } catch (Exception e) {
00269                                 return stringParam.get(this.param);
00270                         }
00271                 else
00272                         return "";
00273         }
00274 
00275         private static enum Type {
00276                 STRING, INT, DOUBLE, BOOLEAN;
00277         }
00278 
00287         private static class ParamTable<T> {
00288                 final Hashtable<String, T> table;
00289                 final T defaultValue;
00290 
00297                 ParamTable(T def) {
00298                         this.table = new Hashtable<String, T>();
00299                         this.defaultValue = def;
00300                 }
00301 
00310                 void set(String s, T value) {
00311                         this.table.put(s, value);
00312                 }
00313 
00321                 T get(String s) {
00322                         T value = this.table.get(s);
00323                         if (value != null)
00324                                 return value;
00325                         else
00326                                 return this.defaultValue;
00327                 }
00328         }
00329 }