RobotConfiguration.h

#ifndef ROBOT_CONFIGURATION_H__
#define ROBOT_CONFIGURATION_H__

#include <map>

class RobotConfiguration
{
public:
	// Gather the information from a file
	static void Init();
	// Possibly update information
	static void Process();
	
	// Configuration accessors
	static float GetDriveTrainP();
	static float GetDriveTrainI();
	static float GetDriveTrainD();
	
	static float GetDriveMaxOutput() { return GetConfigurationVariable("DRIVE_MAX_OUTPUT"); }
	
	static float GetArmP() { return GetConfigurationVariable("ARM_P"); }
	static float GetArmI() { return GetConfigurationVariable("ARM_I"); }
	static float GetArmD() { return GetConfigurationVariable("ARM_D"); }
	static float GetArmPIDTolerance() { return GetConfigurationVariable("ARM_PID_TOLERANCE"); }
	static float GetArmInputRangeMin() { return GetConfigurationVariable("ARM_INPUT_RANGE_MIN"); }
	static float GetArmInputRangeMax() { return GetConfigurationVariable("ARM_INPUT_RANGE_MAX"); }
		
	static float GetShuttleP() { return GetConfigurationVariable("SHUTTLE_P"); }
	static float GetShuttleI() { return GetConfigurationVariable("SHUTTLE_I"); }
	static float GetShuttleD() { return GetConfigurationVariable("SHUTTLE_D"); }
	static float GetShuttlePIDTolerance() { return GetConfigurationVariable("SHUTTLE_PID_TOLERANCE"); }
	static float GetShuttleInputRangeMin() { return GetConfigurationVariable("SHUTTLE_INPUT_RANGE_MIN"); }
	static float GetShuttleInputRangeMax() { return GetConfigurationVariable("SHUTTLE_INPUT_RANGE_MAX"); }
	
	static float GetGrabberMiddleSpeed() { return GetConfigurationVariable("GRABBER_MIDDLE_SPEED"); }
	static float GetGrabberFasterSpeed() { return GetConfigurationVariable("GRABBER_FASTER_SPEED"); }
	static float GetGrabberSlowerSpeed() { return GetConfigurationVariable("GRABBER_SLOWER_SPEED"); }
	static float GetNormalAutonomousSpeed() { return GetConfigurationVariable("NORMAL_AUTO_SPEED"); }
	static float GetInsideCorrectionAutonomousSpeed() { return GetConfigurationVariable("NORMAL_INSIDE_SPEED"); }
	static float GetOutsideCorrectionAutonomousSpeed() { return GetConfigurationVariable("NORMAL_OUTSIDE_SPEED"); } 
	static float GetExtraCorrectionSpeed() { return GetConfigurationVariable("NORMAL_EXTRA_SPEED"); }
	
	static float GetShuttleMoveTime() { return GetConfigurationVariable("SHUTTLE_MOVE_TIME"); }
	static float GetShuttleUpSpeed() { return GetConfigurationVariable("SHUTTLE_UP_SPEED"); }
	
	
	static float GetHangingPose() { return GetConfigurationVariable("AUTO_HANGING_POSE"); }
	static float GetEjectTime() { return GetConfigurationVariable("AUTO_EJECT_TIME"); }
	static float GetScoreDistance() { return GetConfigurationVariable("AUTO_SCORE_DISTANCE"); }

	static float GetArmOutputMin() { return GetConfigurationVariable("ARM_OUTPUT_MIN"); }
	static float GetArmOutputMax() { return GetConfigurationVariable("ARM_OUTPUT_MAX"); }
	
	static float GetShuttleOutputMin() { return GetConfigurationVariable("SHUTTLE_OUTPUT_MIN"); }
	static float GetShuttleOutputMax() { return GetConfigurationVariable("SHUTTLE_OUTPUT_MAX"); }
	
	static float GetDriveStraightP() { return GetConfigurationVariable("DRIVE_STRAIGHT_P"); }
	
	static bool GetEnableLineFollowing() { return GetConfigurationVariableAsBool("ENABLE_LINE_FOLLOWING"); }

		
	static void SetAutoSpeeds(float n, float i, float o, float e)
	{
		SetConfigurationVariable("NORMAL_AUTO_SPEED", n);
		SetConfigurationVariable("NORMAL_INSIDE_SPEED", i);
		SetConfigurationVariable("NORMAL_OUTSIDE_SPEED", o);
		SetConfigurationVariable("NORMAL_EXTRA_SPEED", e);
	}
		
	static void SetDriveTrainPID(float p, float i, float d);
	static void SetDriveMaxOutput(float m) { SetConfigurationVariable("DRIVE_MAX_OUTPUT", m); } 
	static void SaveSettings();
	static void SetDefaults();
	
	static float GetShuttleLow() { return GetConfigurationVariable("POSE_SHUTTLE_LOW"); }
	static float GetShuttleMid() { return GetConfigurationVariable("POSE_SHUTTLE_MID"); }
	static float GetShuttleHigh() { return GetConfigurationVariable("POSE_SHUTTLE_HIGH"); }
	static float GetBackupSpeed() { return GetConfigurationVariable("AUTO_BACKUP_SPEED"); }
	static float GetBackupDistance() { return GetConfigurationVariable("AUTO_BACKUP_DISTANCE"); }
	static float GetFinalBackupDistance() { return GetConfigurationVariable("AUTO_FINAL_BACKUP_DISTANCE"); }
	static float GetDeploySpeed() { return GetConfigurationVariable("DEPLOY_SPEED"); }
	static float GetRotateTime() { return GetConfigurationVariable("AUTO_ROTATE_TIME");}
	static float GetAutoDriveDistance() { return GetConfigurationVariable("AUTO_DRIVE_DISTANCE"); }
	
	static float GetArmPosition(int position)
	{
		if (position == 18) {
			return GetConfigurationVariable("POSE_ARM_18");
		}
		if (position >= 10) {
			return -1 * GetArmPosition(19-position);
		} else {
			std::string thing = "POSE_ARM_";
			thing += (char)('0' + position);
			
			return GetConfigurationVariable(thing);
		}
		
	}
	
	static bool UpdatedSinceLast() { return m_updated; }
	static void ClearUpdated() { m_updated = false; }
	static void DumpConfiguration();
private:
	// Make constructor private for singleton
	// class.
	RobotConfiguration() { }
	
	// Reads the configuration file.
	static bool OpenAndParseFile(char * filename);
	
	// Utility to compare two strings
	static bool StringsEqual(char *a, char *b);
		
	static float GetConfigurationVariable( std::string key );
	static void SetConfigurationVariable( std::string key, float value );
	static bool HasConfigurationVariable( std::string key );
	
	static std::map<std::string, float> * m_map;
	static bool m_updated;
	
	static int GetConfigurationVariableAsInt(std::string key)
	{
		return (int) (GetConfigurationVariable(key) + .5);
	}
	
	static bool GetConfigurationVariableAsBool(std::string key)
	{
		return (bool) GetConfigurationVariableAsInt(key);
	}
	
};

#endif