LoConfigHelpers.H

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00001 /**
00002    \file  Robots/LoBot/config/LoConfigHelpers.H
00003    \brief Helper/convenience functions for accessing the lobot
00004    configuration database.
00005 
00006    This file defines several functions that can be used to ease the
00007    interface to lobot's configuration database. Thus, clients may, for
00008    instance, simply use the get_conf() function and not have to worry
00009    about invoking Configuration::get(); so on and so forth.
00010 
00011    Basically, this file provides a bunch of helpers that result less
00012    typing and less ceremony in client code for using the configuration
00013    database.
00014 */
00015 
00016 // //////////////////////////////////////////////////////////////////// //
00017 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
00018 // by the University of Southern California (USC) and the iLab at USC.  //
00019 // See http://iLab.usc.edu for information about this project.          //
00020 // //////////////////////////////////////////////////////////////////// //
00021 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00022 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00023 // in Visual Environments, and Applications'' by Christof Koch and      //
00024 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00025 // pending; application number 09/912,225 filed July 23, 2001; see      //
00026 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00027 // //////////////////////////////////////////////////////////////////// //
00028 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00029 //                                                                      //
00030 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00031 // redistribute it and/or modify it under the terms of the GNU General  //
00032 // Public License as published by the Free Software Foundation; either  //
00033 // version 2 of the License, or (at your option) any later version.     //
00034 //                                                                      //
00035 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00036 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00037 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00038 // PURPOSE.  See the GNU General Public License for more details.       //
00039 //                                                                      //
00040 // You should have received a copy of the GNU General Public License    //
00041 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00042 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00043 // Boston, MA 02111-1307 USA.                                           //
00044 // //////////////////////////////////////////////////////////////////// //
00045 //
00046 // Primary maintainer for this file: mviswana usc edu
00047 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/config/LoConfigHelpers.H $
00048 // $Id: LoConfigHelpers.H 13445 2010-05-21 06:12:57Z mviswana $
00049 //
00050 
00051 #ifndef LOBOT_CONFIG_HELPERS_DOT_H
00052 #define LOBOT_CONFIG_HELPERS_DOT_H
00053 
00054 //------------------------------ HEADERS --------------------------------
00055 
00056 // lobot headers
00057 #include "Robots/LoBot/config/LoConfig.H"
00058 #include "Robots/LoBot/config/LoDefaults.H"
00059 
00060 #include "Robots/LoBot/misc/LoTypes.H"
00061 #include "Robots/LoBot/util/LoString.H"
00062 #include "Robots/LoBot/util/triple.hh"
00063 #include "Robots/LoBot/util/range.hh"
00064 
00065 // Standard C++ headers
00066 #include <string>
00067 #include <utility>
00068 
00069 //----------------------------- NAMESPACE -------------------------------
00070 
00071 namespace lobot {
00072 
00073 //---------------------- GENERAL CONFIG HELPERS -------------------------
00074 
00075 /// A convenience routine to allow clients to not have to type the whole
00076 /// Configuration::get call...
00077 template<typename T>
00078 inline T get_conf(const std::string& section, const std::string& key,
00079                   const T& default_value = T())
00080 {
00081    return Configuration::get(section, key, default_value) ;
00082 }
00083 
00084 /// A convenience routine to return an RGB color from the specified
00085 /// section of the config file.
00086 template<>
00087 PixelType get_conf(const std::string& section, const std::string& key,
00088                    const PixelType& defval)
00089 {
00090    int color[3] ;
00091    const int default_color[] = {defval.red(), defval.green(), defval.blue()} ;
00092    Configuration::get(section, key, color, default_color, 3) ;
00093    return PixelType(color[0], color[1], color[2]) ;
00094 }
00095 
00096 /// Convenience routine to return a pair from the specified section of
00097 /// the config file.
00098 template<typename T>
00099 std::pair<T, T>
00100 get_conf(const std::string& section, const std::string& key,
00101          const std::pair<T, T>& defval = std::pair<T, T>(T(), T()))
00102 {
00103    T pair[2] ;
00104    const T defaults[] = {defval.first, defval.second} ;
00105    Configuration::get<T>(section, key, pair, defaults, 2) ;
00106    return std::pair<T, T>(pair[0], pair[1]) ;
00107 }
00108 
00109 /// Convenience routine to return a triple from the specified section of
00110 /// the config file.
00111 template<typename T>
00112 triple<T, T, T>
00113 get_conf(const std::string& section, const std::string& key,
00114          const triple<T, T, T>& defval = make_triple(T(), T(), T()))
00115 {
00116    T triple[3] ;
00117    const T defaults[] = {defval.first, defval.second, defval.third} ;
00118    Configuration::get<T>(section, key, triple, defaults, 3) ;
00119    return make_triple(triple[0], triple[1], triple[2]) ;
00120 }
00121 
00122 /// Convenience routine to return a range<T> from the specified section
00123 /// of the config file.
00124 template<typename T>
00125 range<T> get_conf(const std::string& section, const std::string& key,
00126                   const range<T>& defval = range<T>(T(), T()))
00127 {
00128    std::pair<T, T> r =
00129       get_conf<T>(section, key, std::make_pair(defval.min(), defval.max())) ;
00130    return make_range(r.first, r.second) ;
00131 }
00132 
00133 /// Retrieve settings from the global section of the config file
00134 template<typename T>
00135 inline T global_conf(const std::string& key, const T& default_value = T())
00136 {
00137    return Configuration::get_global<T>(key, default_value) ;
00138 }
00139 
00140 /// Retrieve settings from the secret internal section of the
00141 /// configuration database.
00142 template<typename T>
00143 inline T internal_conf(const std::string& key, const T& default_value = T())
00144 {
00145    return get_conf<T>(LOCD_INTERNAL, key, default_value) ;
00146 }
00147 
00148 //---------------------- ROBOT PLATFORM HELPERS -------------------------
00149 
00150 /// Retrieve settings from the motor section of the config file
00151 template<typename T>
00152 inline T robot_conf(const std::string& key, const T& default_value = T())
00153 {
00154    return get_conf<T>("robot", key, default_value) ;
00155 }
00156 
00157 /// Does the user want to enable the physical robot?
00158 inline bool robot_enabled()
00159 {
00160    return robot_conf("use_robot", true) ;
00161 }
00162 
00163 /// Which robot platform will Robolocust be running on?
00164 inline std::string robot_platform()
00165 {
00166    return downstring(robot_conf<std::string>("platform", "roomba_cm")) ;
00167 }
00168 
00169 /// Is the lobot controller running on an iRobot Create/Roomba?
00170 bool robot_platform_is_roomba() ;
00171 
00172 //---------------------------- I/O HELPERS ------------------------------
00173 
00174 /// Check what input source to use for the locust LGMD spikes
00175 inline std::string locust_input()
00176 {
00177    return downstring(global_conf<std::string>("locust_input", "laser")) ;
00178 }
00179 
00180 /// Check if cameras are being used to generate LGMD spikes
00181 inline bool video_input()
00182 {
00183    return locust_input() == "video" ;
00184 }
00185 
00186 /// Check if the laser range finder is being used to generate LGMD spikes
00187 inline bool laser_input()
00188 {
00189    return locust_input() == "laser" ;
00190 }
00191 
00192 /// Retrieve settings from the laser section of the config file
00193 template<typename T>
00194 inline T laser_conf(const std::string& key, const T& default_value = T())
00195 {
00196    return get_conf<T>("laser", key, default_value) ;
00197 }
00198 
00199 /// Check which LGMD model is being used
00200 inline std::string locust_model()
00201 {
00202    return downstring(global_conf<std::string>("locust_model",
00203                                               LOBOT_DEFAULT_LOCUST_MODEL)) ;
00204 }
00205 
00206 //---------------------------- UI HELPERS -------------------------------
00207 
00208 /// Retrieve settings from the ui section of the config file
00209 template<typename T>
00210 inline T ui_conf(const std::string& key, const T& default_value = T())
00211 {
00212    return get_conf<T>("ui", key, default_value) ;
00213 }
00214 
00215 /// Check if a drawable (such as a behaviour, an arbiter, LRF visualizer,
00216 /// etc.) is configured to be visualized or not. By default,
00217 /// visualizations are all turned off; the user must explicitly turn them
00218 /// on.
00219 inline bool visualize(const std::string& section)
00220 {
00221    return get_conf(section, "visualization", false) ;
00222 }
00223 
00224 //----------------------- VIDEO RELATED HELPERS -------------------------
00225 
00226 /// Retrieve settings from the video section of the config file
00227 template<typename T>
00228 inline T video_conf(const std::string& key, const T& default_value = T())
00229 {
00230    return get_conf<T>("video", key, default_value) ;
00231 }
00232 
00233 ///  Retrieve settings from the optical flow section of the config file
00234 template<typename T>
00235 inline T optical_flow_conf(const std::string& key, const T& default_value)
00236 {
00237    return get_conf<T>("optical_flow", key, default_value) ;
00238 }
00239 
00240 //-----------------------------------------------------------------------
00241 
00242 } // end of namespace encapsulating this file's definitions
00243 
00244 #endif
00245 
00246 /* So things look consistent in everyone's emacs... */
00247 /* Local Variables: */
00248 /* indent-tabs-mode: nil */
00249 /* End: */
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