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Added ParamsParser to Map2D_nws_ros2
Signed-off-by: Ettore Landini <[email protected]>
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src/devices/map2D_nws_ros2/Map2D_nws_ros2_ParamsParser.cpp
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| /* | ||
| * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT) | ||
| * SPDX-License-Identifier: LGPL-2.1-or-later | ||
| */ | ||
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| // 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. | ||
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| // Generated on: Mon Aug 26 14:52:35 2024 | ||
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| #include "Map2D_nws_ros2_ParamsParser.h" | ||
| #include <yarp/os/LogStream.h> | ||
| #include <yarp/os/Value.h> | ||
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| namespace { | ||
| YARP_LOG_COMPONENT(Map2D_nws_ros2ParamsCOMPONENT, "yarp.device.Map2D_nws_ros2") | ||
| } | ||
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| Map2D_nws_ros2_ParamsParser::Map2D_nws_ros2_ParamsParser() | ||
| { | ||
| } | ||
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| std::vector<std::string> Map2D_nws_ros2_ParamsParser::getListOfParams() const | ||
| { | ||
| std::vector<std::string> params; | ||
| params.push_back("name"); | ||
| params.push_back("getmap"); | ||
| params.push_back("getmapbyname"); | ||
| params.push_back("roscmdparser"); | ||
| params.push_back("markers_pub"); | ||
| params.push_back("node_name"); | ||
| return params; | ||
| } | ||
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| bool Map2D_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config) | ||
| { | ||
| //Check for --help option | ||
| if (config.check("help")) | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << getDocumentationOfDeviceParams(); | ||
| } | ||
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| std::string config_string = config.toString(); | ||
| yarp::os::Property prop_check(config_string.c_str()); | ||
| //Parser of parameter name | ||
| { | ||
| if (config.check("name")) | ||
| { | ||
| m_name = config.find("name").asString(); | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'name' using value:" << m_name; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'name' using DEFAULT value:" << m_name; | ||
| } | ||
| prop_check.unput("name"); | ||
| } | ||
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| //Parser of parameter getmap | ||
| { | ||
| if (config.check("getmap")) | ||
| { | ||
| m_getmap = config.find("getmap").asString(); | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmap' using value:" << m_getmap; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmap' using DEFAULT value:" << m_getmap; | ||
| } | ||
| prop_check.unput("getmap"); | ||
| } | ||
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| //Parser of parameter getmapbyname | ||
| { | ||
| if (config.check("getmapbyname")) | ||
| { | ||
| m_getmapbyname = config.find("getmapbyname").asString(); | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmapbyname' using value:" << m_getmapbyname; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmapbyname' using DEFAULT value:" << m_getmapbyname; | ||
| } | ||
| prop_check.unput("getmapbyname"); | ||
| } | ||
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| //Parser of parameter roscmdparser | ||
| { | ||
| if (config.check("roscmdparser")) | ||
| { | ||
| m_roscmdparser = config.find("roscmdparser").asString(); | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'roscmdparser' using value:" << m_roscmdparser; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'roscmdparser' using DEFAULT value:" << m_roscmdparser; | ||
| } | ||
| prop_check.unput("roscmdparser"); | ||
| } | ||
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| //Parser of parameter markers_pub | ||
| { | ||
| if (config.check("markers_pub")) | ||
| { | ||
| m_markers_pub = config.find("markers_pub").asString(); | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'markers_pub' using value:" << m_markers_pub; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'markers_pub' using DEFAULT value:" << m_markers_pub; | ||
| } | ||
| prop_check.unput("markers_pub"); | ||
| } | ||
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| //Parser of parameter node_name | ||
| { | ||
| if (config.check("node_name")) | ||
| { | ||
| m_node_name = config.find("node_name").asString(); | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using DEFAULT value:" << m_node_name; | ||
| } | ||
| prop_check.unput("node_name"); | ||
| } | ||
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| /* | ||
| //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(Map2D_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!"; | ||
| extra_params_found = true; | ||
| } | ||
| else | ||
| { | ||
| yCWarning(Map2D_nws_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; | ||
| } | ||
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| std::string Map2D_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const | ||
| { | ||
| std::string doc; | ||
| doc = doc + std::string("\n=============================================\n"); | ||
| doc = doc + std::string("This is the help for device: Map2D_nws_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("'name': Device name prefix\n"); | ||
| doc = doc + std::string("'getmap': The \"GetMap\" ROS service name\n"); | ||
| doc = doc + std::string("'getmapbyname': The \"GetMapByName\" ROS2 custom service name\n"); | ||
| doc = doc + std::string("'roscmdparser': The \"BasicTypes\" ROS service name\n"); | ||
| doc = doc + std::string("'markers_pub': The visual markers array publisher name\n"); | ||
| doc = doc + std::string("'node_name': The ROS2 node name. If absent, the device name will be used\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 map2D_nws_ros2 --name map2D_nws_ros2 --getmap getMap --getmapbyname getMapByName --roscmdparser rosCmdParser --markers_pub locationServerMarkers --node_name map2D_nws_ros2\n"; | ||
| doc = doc + std::string("Using only mandatory params:\n"); | ||
| doc = doc + " yarpdev --device map2D_nws_ros2\n"; | ||
| doc = doc + std::string("=============================================\n\n"); return doc; | ||
| } |
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