bml_realizer: bml_realizer/src/edu/wpi/hri/bml/realizer/BMLParams.java Source File

00001 /*
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00004  *  Copyright (c) 2010, Worcester Polytechnic Institute
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00007  *  Redistribution and use in source and binary forms, with or without
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00009  *  are met:
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00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00016  *     with the distribution.
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00034 package edu.wpi.hri.bml.realizer;
00035 
00036 import java.util.Hashtable;
00037 
00038 import ros.Ros;
00039 
00049 public enum BMLParams {
00051     DEBUG_LEVEL("debug_level", Type.STRING),
00053     LOGGER_TYPE("logger_type", Type.STRING);
00054 
00056     private static final ParamTable<Boolean> boolParam = new ParamTable<Boolean>(
00057         false);
00059     private static final ParamTable<Integer> intParam = new ParamTable<Integer>(
00060         0);
00062     private static final ParamTable<Double> doubleParam = new ParamTable<Double>(
00063         0.0);
00065     private static final ParamTable<String> stringParam = new ParamTable<String>(
00066         "");
00067 
00068     // private stuff from here
00069     private static final String NAMESPACE = "realizer/conf";
00070     private final String param;
00071     private final Type type;
00072 
00073     private BMLParams(String param, Type type) {
00074         this.param = param;
00075         this.type = type;
00076     }
00077 
00084     public void setBoolean(boolean value) {
00085         if (this.type == Type.BOOLEAN)
00086             boolParam.set(this.param, value);
00087     }
00088 
00095     public void setDouble(double value) {
00096         if (this.type == Type.DOUBLE)
00097             doubleParam.set(this.param, value);
00098     }
00099 
00106     public void setInt(int value) {
00107         if (this.type == Type.INT)
00108             intParam.set(this.param, value);
00109     }
00110 
00117     public void setString(String value) {
00118         if (this.type == Type.STRING)
00119             stringParam.set(this.param, value);
00120     }
00121 
00127     public boolean getBoolean() {
00128         if (this.type == Type.BOOLEAN)
00129             try {
00130                 return Ros.getInstance().createNodeHandle(NAMESPACE).getBooleanParam(
00131                     this.param, false);
00132             } catch (Exception e) {
00133                 return boolParam.get(this.param);
00134             }
00135         else
00136             return false;
00137     }
00138 
00144     public double getDouble() {
00145         if (this.type == Type.DOUBLE)
00146             try {
00147                 return Ros.getInstance().createNodeHandle(NAMESPACE).getDoubleParam(
00148                     this.param, false);
00149             } catch (Exception e) {
00150                 return doubleParam.get(this.param);
00151             }
00152         else
00153             return 0.0;
00154     }
00155 
00161     public int getInt() {
00162         if (this.type == Type.INT)
00163             try {
00164                 return Ros.getInstance().createNodeHandle(NAMESPACE).getIntParam(
00165                     this.param, false);
00166             } catch (Exception e) {
00167                 return intParam.get(this.param);
00168             }
00169         else
00170             return 0;
00171     }
00172 
00178     public String getString() {
00179         if (this.type == Type.STRING)
00180             try {
00181                 return Ros.getInstance().createNodeHandle(NAMESPACE).getStringParam(
00182                     this.param, false);
00183             } catch (Exception e) {
00184                 return stringParam.get(this.param);
00185             }
00186         else
00187             return "";
00188     }
00189 
00190     private static enum Type {
00191         STRING, INT, DOUBLE, BOOLEAN;
00192     }
00193 
00200     private static class ParamTable<T> {
00201         final Hashtable<String, T> table;
00202         final T defaultValue;
00203 
00204         ParamTable(T def) {
00205             this.table = new Hashtable<String, T>();
00206             this.defaultValue = def;
00207         }
00208 
00209         void set(String s, T value) {
00210             this.table.put(s, value);
00211         }
00212 
00213         T get(String s) {
00214             T value = this.table.get(s);
00215             if (value != null)
00216                 return value;
00217             else
00218                 return this.defaultValue;
00219         }
00220     }
00221 }