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Added ParamsParser to FrameTransformSet_nws_ros2
Signed-off-by: Ettore Landini <[email protected]>
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src/devices/frameTransformSet_nwc_ros2/FrameTransformSet_nwc_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 "FrameTransformSet_nwc_ros2_ParamsParser.h" | ||
| #include <yarp/os/LogStream.h> | ||
| #include <yarp/os/Value.h> | ||
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| namespace { | ||
| YARP_LOG_COMPONENT(FrameTransformSet_nwc_ros2ParamsCOMPONENT, "yarp.device.FrameTransformSet_nwc_ros2") | ||
| } | ||
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| FrameTransformSet_nwc_ros2_ParamsParser::FrameTransformSet_nwc_ros2_ParamsParser() | ||
| { | ||
| } | ||
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| std::vector<std::string> FrameTransformSet_nwc_ros2_ParamsParser::getListOfParams() const | ||
| { | ||
| std::vector<std::string> params; | ||
| params.push_back("GENERAL::refresh_interval"); | ||
| params.push_back("GENERAL::period"); | ||
| params.push_back("GENERAL::asynch_pub"); | ||
| params.push_back("ROS2::ft_node"); | ||
| params.push_back("ROS2::ft_topic"); | ||
| params.push_back("ROS2::ft_topic_static"); | ||
| return params; | ||
| } | ||
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| bool FrameTransformSet_nwc_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config) | ||
| { | ||
| //Check for --help option | ||
| if (config.check("help")) | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << getDocumentationOfDeviceParams(); | ||
| } | ||
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| std::string config_string = config.toString(); | ||
| yarp::os::Property prop_check(config_string.c_str()); | ||
| //Parser of parameter GENERAL::refresh_interval | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("GENERAL"); | ||
| if (sectionp.check("refresh_interval")) | ||
| { | ||
| m_GENERAL_refresh_interval = sectionp.find("refresh_interval").asFloat64(); | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'GENERAL::refresh_interval' using value:" << m_GENERAL_refresh_interval; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'GENERAL::refresh_interval' using DEFAULT value:" << m_GENERAL_refresh_interval; | ||
| } | ||
| prop_check.unput("GENERAL::refresh_interval"); | ||
| } | ||
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| //Parser of parameter GENERAL::period | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("GENERAL"); | ||
| if (sectionp.check("period")) | ||
| { | ||
| m_GENERAL_period = sectionp.find("period").asFloat64(); | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'GENERAL::period' using value:" << m_GENERAL_period; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'GENERAL::period' using DEFAULT value:" << m_GENERAL_period; | ||
| } | ||
| prop_check.unput("GENERAL::period"); | ||
| } | ||
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| //Parser of parameter GENERAL::asynch_pub | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("GENERAL"); | ||
| if (sectionp.check("asynch_pub")) | ||
| { | ||
| m_GENERAL_asynch_pub = sectionp.find("asynch_pub").asInt64(); | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'GENERAL::asynch_pub' using value:" << m_GENERAL_asynch_pub; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'GENERAL::asynch_pub' using DEFAULT value:" << m_GENERAL_asynch_pub; | ||
| } | ||
| prop_check.unput("GENERAL::asynch_pub"); | ||
| } | ||
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| //Parser of parameter ROS2::ft_node | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("ROS2"); | ||
| if (sectionp.check("ft_node")) | ||
| { | ||
| m_ROS2_ft_node = sectionp.find("ft_node").asString(); | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'ROS2::ft_node' using value:" << m_ROS2_ft_node; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'ROS2::ft_node' using DEFAULT value:" << m_ROS2_ft_node; | ||
| } | ||
| prop_check.unput("ROS2::ft_node"); | ||
| } | ||
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| //Parser of parameter ROS2::ft_topic | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("ROS2"); | ||
| if (sectionp.check("ft_topic")) | ||
| { | ||
| m_ROS2_ft_topic = sectionp.find("ft_topic").asString(); | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'ROS2::ft_topic' using value:" << m_ROS2_ft_topic; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'ROS2::ft_topic' using DEFAULT value:" << m_ROS2_ft_topic; | ||
| } | ||
| prop_check.unput("ROS2::ft_topic"); | ||
| } | ||
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| //Parser of parameter ROS2::ft_topic_static | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("ROS2"); | ||
| if (sectionp.check("ft_topic_static")) | ||
| { | ||
| m_ROS2_ft_topic_static = sectionp.find("ft_topic_static").asString(); | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'ROS2::ft_topic_static' using value:" << m_ROS2_ft_topic_static; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "Parameter 'ROS2::ft_topic_static' using DEFAULT value:" << m_ROS2_ft_topic_static; | ||
| } | ||
| prop_check.unput("ROS2::ft_topic_static"); | ||
| } | ||
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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(FrameTransformSet_nwc_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!"; | ||
| extra_params_found = true; | ||
| } | ||
| else | ||
| { | ||
| yCWarning(FrameTransformSet_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; | ||
| } | ||
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| std::string FrameTransformSet_nwc_ros2_ParamsParser::getDocumentationOfDeviceParams() const | ||
| { | ||
| std::string doc; | ||
| doc = doc + std::string("\n=============================================\n"); | ||
| doc = doc + std::string("This is the help for device: FrameTransformSet_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("'GENERAL::refresh_interval': The time interval outside which timed ft will be deleted\n"); | ||
| doc = doc + std::string("'GENERAL::period': The PeriodicThread period in seconds\n"); | ||
| doc = doc + std::string("'GENERAL::asynch_pub': If 1, the fts will be published not only every \"period\" seconds but also when set functions are called\n"); | ||
| doc = doc + std::string("'ROS2::ft_node': The name of the ROS2 node\n"); | ||
| doc = doc + std::string("'ROS2::ft_topic': The name of the ROS2 topic from which fts will be received\n"); | ||
| doc = doc + std::string("'ROS2::ft_topic_static': The name of the ROS2 topic from which static fts will be received\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 frameTransformSet_nwc_ros2 --GENERAL::refresh_interval 0.1 --GENERAL::period 0.01 --GENERAL::asynch_pub 1 --ROS2::ft_node tfNodeSet --ROS2::ft_topic /tf --ROS2::ft_topic_static /tf_static\n"; | ||
| doc = doc + std::string("Using only mandatory params:\n"); | ||
| doc = doc + " yarpdev --device frameTransformSet_nwc_ros2\n"; | ||
| doc = doc + std::string("=============================================\n\n"); return doc; | ||
| } |
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src/devices/frameTransformSet_nwc_ros2/FrameTransformSet_nwc_ros2_ParamsParser.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| /* | ||
| * 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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| #ifndef FRAMETRANSFORMSET_NWC_ROS2_PARAMSPARSER_H | ||
| #define FRAMETRANSFORMSET_NWC_ROS2_PARAMSPARSER_H | ||
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| #include <yarp/os/Searchable.h> | ||
| #include <yarp/dev/IDeviceDriverParams.h> | ||
| #include <string> | ||
| #include <cmath> | ||
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| /** | ||
| * This class is the parameters parser for class FrameTransformSet_nwc_ros2. | ||
| * | ||
| * These are the used parameters: | ||
| * | Group name | Parameter name | Type | Units | Default Value | Required | Description | Notes | | ||
| * |:----------:|:----------------:|:------:|:-------:|:-------------:|:--------:|:--------------------------------------------------------------------------------------------------------:|:-----:| | ||
| * | GENERAL | refresh_interval | double | seconds | 0.1 | 0 | The time interval outside which timed ft will be deleted | - | | ||
| * | GENERAL | period | double | seconds | 0.01 | 0 | The PeriodicThread period in seconds | - | | ||
| * | GENERAL | asynch_pub | int | - | 1 | 0 | If 1, the fts will be published not only every \"period\" seconds but also when set functions are called | - | | ||
| * | ROS2 | ft_node | string | - | tfNodeSet | 0 | The name of the ROS2 node | - | | ||
| * | ROS2 | ft_topic | string | - | /tf | 0 | The name of the ROS2 topic from which fts will be received | - | | ||
| * | ROS2 | ft_topic_static | string | - | /tf_static | 0 | The name of the ROS2 topic from which static fts will be received | - | | ||
| * | ||
| * The device can be launched by yarpdev using one of the following examples (with and without all optional parameters): | ||
| * \code{.unparsed} | ||
| * yarpdev --device frameTransformSet_nwc_ros2 --GENERAL::refresh_interval 0.1 --GENERAL::period 0.01 --GENERAL::asynch_pub 1 --ROS2::ft_node tfNodeSet --ROS2::ft_topic /tf --ROS2::ft_topic_static /tf_static | ||
| * \endcode | ||
| * | ||
| * \code{.unparsed} | ||
| * yarpdev --device frameTransformSet_nwc_ros2 | ||
| * \endcode | ||
| * | ||
| */ | ||
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| class FrameTransformSet_nwc_ros2_ParamsParser : public yarp::dev::IDeviceDriverParams | ||
| { | ||
| public: | ||
| FrameTransformSet_nwc_ros2_ParamsParser(); | ||
| ~FrameTransformSet_nwc_ros2_ParamsParser() override = default; | ||
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| public: | ||
| const std::string m_device_classname = {"FrameTransformSet_nwc_ros2"}; | ||
| const std::string m_device_name = {"frameTransformSet_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 = {}; | ||
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| const std::string m_GENERAL_refresh_interval_defaultValue = {"0.1"}; | ||
| const std::string m_GENERAL_period_defaultValue = {"0.01"}; | ||
| const std::string m_GENERAL_asynch_pub_defaultValue = {"1"}; | ||
| const std::string m_ROS2_ft_node_defaultValue = {"tfNodeSet"}; | ||
| const std::string m_ROS2_ft_topic_defaultValue = {"/tf"}; | ||
| const std::string m_ROS2_ft_topic_static_defaultValue = {"/tf_static"}; | ||
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| double m_GENERAL_refresh_interval = {0.1}; | ||
| double m_GENERAL_period = {0.01}; | ||
| int m_GENERAL_asynch_pub = {1}; | ||
| std::string m_ROS2_ft_node = {"tfNodeSet"}; | ||
| std::string m_ROS2_ft_topic = {"/tf"}; | ||
| std::string m_ROS2_ft_topic_static = {"/tf_static"}; | ||
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| 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; | ||
| }; | ||
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| #endif |
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src/devices/frameTransformSet_nwc_ros2/FrameTransformSet_nwc_ros2_params.md
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| Original file line number | Diff line number | Diff line change |
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| | GENERAL | refresh_interval | double | seconds | 0.1 | No | The time interval outside which timed ft will be deleted | | ||
| | GENERAL | period | double | seconds | 0.01 | No | The PeriodicThread period in seconds | | ||
| | GENERAL | asynch_pub | int | - | 1 | No | If 1, the fts will be published not only every "period" seconds but also when set functions are called| | ||
| | ROS2 | ft_node | string | - | tfNodeSet | No | The name of the ROS2 node | | ||
| | ROS2 | ft_topic | string | - | /tf | No | The name of the ROS2 topic from which fts will be received | | ||
| | ROS2 | ft_topic_static | string | - | /tf_static | No | The name of the ROS2 topic from which static fts will be received | |
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