forked from robotology/yarp-devices-ros2
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Added ParamsParser to RgbdSensor_nwc_ros2
Signed-off-by: Ettore Landini <[email protected]>
- Loading branch information
1 parent
e516dca
commit 1626bb1
Showing
6 changed files
with
256 additions
and
43 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
157 changes: 157 additions & 0 deletions
157
src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2_ParamsParser.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| /* | ||
| * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT) | ||
| * SPDX-License-Identifier: LGPL-2.1-or-later | ||
| */ | ||
|
|
||
|
|
||
| // Generated by yarpDeviceParamParserGenerator (1.0) | ||
| // This is an automatically generated file. Please do not edit it. | ||
| // It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON. | ||
|
|
||
| // Generated on: Fri Aug 30 12:59:16 2024 | ||
|
|
||
|
|
||
| #include "RgbdSensor_nwc_ros2_ParamsParser.h" | ||
| #include <yarp/os/LogStream.h> | ||
| #include <yarp/os/Value.h> | ||
|
|
||
| namespace { | ||
| YARP_LOG_COMPONENT(RgbdSensor_nwc_ros2ParamsCOMPONENT, "yarp.device.RgbdSensor_nwc_ros2") | ||
| } | ||
|
|
||
|
|
||
| RgbdSensor_nwc_ros2_ParamsParser::RgbdSensor_nwc_ros2_ParamsParser() | ||
| { | ||
| } | ||
|
|
||
|
|
||
| std::vector<std::string> RgbdSensor_nwc_ros2_ParamsParser::getListOfParams() const | ||
| { | ||
| std::vector<std::string> params; | ||
| params.push_back("node_name"); | ||
| params.push_back("color_topic_name"); | ||
| params.push_back("depth_topic_name"); | ||
| params.push_back("verbose_on"); | ||
| return params; | ||
| } | ||
|
|
||
|
|
||
| bool RgbdSensor_nwc_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config) | ||
| { | ||
| //Check for --help option | ||
| if (config.check("help")) | ||
| { | ||
| yCInfo(RgbdSensor_nwc_ros2ParamsCOMPONENT) << getDocumentationOfDeviceParams(); | ||
| } | ||
|
|
||
| std::string config_string = config.toString(); | ||
| yarp::os::Property prop_check(config_string.c_str()); | ||
| //Parser of parameter node_name | ||
| { | ||
| if (config.check("node_name")) | ||
| { | ||
| m_node_name = config.find("node_name").asString(); | ||
| yCInfo(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Mandatory parameter 'node_name' not found!"; | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Description of the parameter: name of the ros2 node"; | ||
| return false; | ||
| } | ||
| prop_check.unput("node_name"); | ||
| } | ||
|
|
||
| //Parser of parameter color_topic_name | ||
| { | ||
| if (config.check("color_topic_name")) | ||
| { | ||
| m_color_topic_name = config.find("color_topic_name").asString(); | ||
| yCInfo(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Parameter 'color_topic_name' using value:" << m_color_topic_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Mandatory parameter 'color_topic_name' not found!"; | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Description of the parameter: ros rgb topic (it's also the base name for the rgb camera_info topic)"; | ||
| return false; | ||
| } | ||
| prop_check.unput("color_topic_name"); | ||
| } | ||
|
|
||
| //Parser of parameter depth_topic_name | ||
| { | ||
| if (config.check("depth_topic_name")) | ||
| { | ||
| m_depth_topic_name = config.find("depth_topic_name").asString(); | ||
| yCInfo(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Parameter 'depth_topic_name' using value:" << m_depth_topic_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Mandatory parameter 'depth_topic_name' not found!"; | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Description of the parameter: ros depth topic (it's also the base name for the depth camera_info topic)"; | ||
| return false; | ||
| } | ||
| prop_check.unput("depth_topic_name"); | ||
| } | ||
|
|
||
| //Parser of parameter verbose_on | ||
| { | ||
| if (config.check("verbose_on")) | ||
| { | ||
| m_verbose_on = config.find("verbose_on").asInt64(); | ||
| yCInfo(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Parameter 'verbose_on' using value:" << m_verbose_on; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "Parameter 'verbose_on' using DEFAULT value:" << m_verbose_on; | ||
| } | ||
| prop_check.unput("verbose_on"); | ||
| } | ||
|
|
||
| /* | ||
| //This code check if the user set some parameter which are not check by the parser | ||
| //If the parser is set in strict mode, this will generate an error | ||
| if (prop_check.size() > 0) | ||
| { | ||
| bool extra_params_found = false; | ||
| for (auto it=prop_check.begin(); it!=prop_check.end(); it++) | ||
| { | ||
| if (m_parser_is_strict) | ||
| { | ||
| yCError(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!"; | ||
| extra_params_found = true; | ||
| } | ||
| else | ||
| { | ||
| yCWarning(RgbdSensor_nwc_ros2ParamsCOMPONENT) << "User asking for parameter: "<< it->name <<" which is unknown to this parser!"; | ||
| } | ||
| } | ||
| if (m_parser_is_strict && extra_params_found) | ||
| { | ||
| return false; | ||
| } | ||
| } | ||
| */ | ||
| return true; | ||
| } | ||
|
|
||
|
|
||
| std::string RgbdSensor_nwc_ros2_ParamsParser::getDocumentationOfDeviceParams() const | ||
| { | ||
| std::string doc; | ||
| doc = doc + std::string("\n=============================================\n"); | ||
| doc = doc + std::string("This is the help for device: RgbdSensor_nwc_ros2\n"); | ||
| doc = doc + std::string("\n"); | ||
| doc = doc + std::string("This is the list of the parameters accepted by the device:\n"); | ||
| doc = doc + std::string("'node_name': name of the ros2 node\n"); | ||
| doc = doc + std::string("'color_topic_name': ros rgb topic (it's also the base name for the rgb camera_info topic)\n"); | ||
| doc = doc + std::string("'depth_topic_name': ros depth topic (it's also the base name for the depth camera_info topic)\n"); | ||
| doc = doc + std::string("'verbose_on': if 1, it enables the verbose mode of the device\n"); | ||
| doc = doc + std::string("\n"); | ||
| doc = doc + std::string("Here are some examples of invocation command with yarpdev, with all params:\n"); | ||
| doc = doc + " yarpdev --device rgbdSensor_nwc_ros2 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> --verbose_on 0\n"; | ||
| doc = doc + std::string("Using only mandatory params:\n"); | ||
| doc = doc + " yarpdev --device rgbdSensor_nwc_ros2 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value>\n"; | ||
| doc = doc + std::string("=============================================\n\n"); return doc; | ||
| } |
78 changes: 78 additions & 0 deletions
78
src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2_ParamsParser.h
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| /* | ||
| * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT) | ||
| * SPDX-License-Identifier: LGPL-2.1-or-later | ||
| */ | ||
|
|
||
|
|
||
| // Generated by yarpDeviceParamParserGenerator (1.0) | ||
| // This is an automatically generated file. Please do not edit it. | ||
| // It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON. | ||
|
|
||
| // Generated on: Fri Aug 30 12:59:16 2024 | ||
|
|
||
|
|
||
| #ifndef RGBDSENSOR_NWC_ROS2_PARAMSPARSER_H | ||
| #define RGBDSENSOR_NWC_ROS2_PARAMSPARSER_H | ||
|
|
||
| #include <yarp/os/Searchable.h> | ||
| #include <yarp/dev/IDeviceDriverParams.h> | ||
| #include <string> | ||
| #include <cmath> | ||
|
|
||
| /** | ||
| * This class is the parameters parser for class RgbdSensor_nwc_ros2. | ||
| * | ||
| * These are the used parameters: | ||
| * | Group name | Parameter name | Type | Units | Default Value | Required | Description | Notes | | ||
| * |:----------:|:----------------:|:------:|:-----:|:-------------:|:--------:|:-------------------------------------------------------------------------:|:-----------------------------:| | ||
| * | - | node_name | string | - | - | 1 | name of the ros2 node | - | | ||
| * | - | color_topic_name | string | - | - | 1 | ros rgb topic (it's also the base name for the rgb camera_info topic) | must start with a leading '/' | | ||
| * | - | depth_topic_name | string | - | - | 1 | ros depth topic (it's also the base name for the depth camera_info topic) | must start with a leading '/' | | ||
| * | - | verbose_on | int | - | 0 | 0 | if 1, it enables the verbose mode of the device | - | | ||
| * | ||
| * The device can be launched by yarpdev using one of the following examples (with and without all optional parameters): | ||
| * \code{.unparsed} | ||
| * yarpdev --device rgbdSensor_nwc_ros2 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> --verbose_on 0 | ||
| * \endcode | ||
| * | ||
| * \code{.unparsed} | ||
| * yarpdev --device rgbdSensor_nwc_ros2 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> | ||
| * \endcode | ||
| * | ||
| */ | ||
|
|
||
| class RgbdSensor_nwc_ros2_ParamsParser : public yarp::dev::IDeviceDriverParams | ||
| { | ||
| public: | ||
| RgbdSensor_nwc_ros2_ParamsParser(); | ||
| ~RgbdSensor_nwc_ros2_ParamsParser() override = default; | ||
|
|
||
| public: | ||
| const std::string m_device_classname = {"RgbdSensor_nwc_ros2"}; | ||
| const std::string m_device_name = {"rgbdSensor_nwc_ros2"}; | ||
| bool m_parser_is_strict = false; | ||
| struct parser_version_type | ||
| { | ||
| int major = 1; | ||
| int minor = 0; | ||
| }; | ||
| const parser_version_type m_parser_version = {}; | ||
|
|
||
| const std::string m_node_name_defaultValue = {""}; | ||
| const std::string m_color_topic_name_defaultValue = {""}; | ||
| const std::string m_depth_topic_name_defaultValue = {""}; | ||
| const std::string m_verbose_on_defaultValue = {"0"}; | ||
|
|
||
| std::string m_node_name = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters. | ||
| std::string m_color_topic_name = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters. | ||
| std::string m_depth_topic_name = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters. | ||
| int m_verbose_on = {0}; | ||
|
|
||
| bool parseParams(const yarp::os::Searchable & config) override; | ||
| std::string getDeviceClassName() const override { return m_device_classname; } | ||
| std::string getDeviceName() const override { return m_device_name; } | ||
| std::string getDocumentationOfDeviceParams() const override; | ||
| std::vector<std::string> getListOfParams() const override; | ||
| }; | ||
|
|
||
| #endif |
4 changes: 4 additions & 0 deletions
4
src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2_params.md
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| | | node_name | string | - | - | Yes | name of the ros2 node | | | ||
| | | color_topic_name | string | - | - | Yes | ros rgb topic (it's also the base name for the rgb camera_info topic) | must start with a leading '/' | | ||
| | | depth_topic_name | string | - | - | Yes | ros depth topic (it's also the base name for the depth camera_info topic) | must start with a leading '/' | | ||
| | | verbose_on | int | - | 0 | No | if 1, it enables the verbose mode of the device | | |