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Added ParamsParser to RgbdSensor_nws_ros2
Signed-off-by: Ettore Landini <[email protected]>
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src/devices/rgbdSensor_nws_ros2/RgbdSensor_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 Sep 2 10:47:31 2024 | ||
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| #include "RgbdSensor_nws_ros2_ParamsParser.h" | ||
| #include <yarp/os/LogStream.h> | ||
| #include <yarp/os/Value.h> | ||
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| namespace { | ||
| YARP_LOG_COMPONENT(RgbdSensor_nws_ros2ParamsCOMPONENT, "yarp.device.RgbdSensor_nws_ros2") | ||
| } | ||
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| RgbdSensor_nws_ros2_ParamsParser::RgbdSensor_nws_ros2_ParamsParser() | ||
| { | ||
| } | ||
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| std::vector<std::string> RgbdSensor_nws_ros2_ParamsParser::getListOfParams() const | ||
| { | ||
| std::vector<std::string> params; | ||
| params.push_back("period"); | ||
| params.push_back("node_name"); | ||
| params.push_back("color_topic_name"); | ||
| params.push_back("depth_topic_name"); | ||
| params.push_back("force_info_synch"); | ||
| params.push_back("depth_frame_id"); | ||
| params.push_back("color_frame_id"); | ||
| return params; | ||
| } | ||
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| bool RgbdSensor_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config) | ||
| { | ||
| //Check for --help option | ||
| if (config.check("help")) | ||
| { | ||
| yCInfo(RgbdSensor_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 period | ||
| { | ||
| if (config.check("period")) | ||
| { | ||
| m_period = config.find("period").asFloat64(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using value:" << m_period; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using DEFAULT value:" << m_period; | ||
| } | ||
| prop_check.unput("period"); | ||
| } | ||
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| //Parser of parameter node_name | ||
| { | ||
| if (config.check("node_name")) | ||
| { | ||
| m_node_name = config.find("node_name").asString(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'node_name' not found!"; | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the ros2 node"; | ||
| return false; | ||
| } | ||
| prop_check.unput("node_name"); | ||
| } | ||
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| //Parser of parameter color_topic_name | ||
| { | ||
| if (config.check("color_topic_name")) | ||
| { | ||
| m_color_topic_name = config.find("color_topic_name").asString(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'color_topic_name' using value:" << m_color_topic_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'color_topic_name' not found!"; | ||
| yCError(RgbdSensor_nws_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"); | ||
| } | ||
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| //Parser of parameter depth_topic_name | ||
| { | ||
| if (config.check("depth_topic_name")) | ||
| { | ||
| m_depth_topic_name = config.find("depth_topic_name").asString(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'depth_topic_name' using value:" << m_depth_topic_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'depth_topic_name' not found!"; | ||
| yCError(RgbdSensor_nws_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"); | ||
| } | ||
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| //Parser of parameter force_info_synch | ||
| { | ||
| if (config.check("force_info_synch")) | ||
| { | ||
| m_force_info_synch = config.find("force_info_synch").asInt64(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'force_info_synch' using value:" << m_force_info_synch; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'force_info_synch' using DEFAULT value:" << m_force_info_synch; | ||
| } | ||
| prop_check.unput("force_info_synch"); | ||
| } | ||
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| //Parser of parameter depth_frame_id | ||
| { | ||
| if (config.check("depth_frame_id")) | ||
| { | ||
| m_depth_frame_id = config.find("depth_frame_id").asString(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'depth_frame_id' using value:" << m_depth_frame_id; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'depth_frame_id' not found!"; | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The depth image frame"; | ||
| return false; | ||
| } | ||
| prop_check.unput("depth_frame_id"); | ||
| } | ||
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| //Parser of parameter color_frame_id | ||
| { | ||
| if (config.check("color_frame_id")) | ||
| { | ||
| m_color_frame_id = config.find("color_frame_id").asString(); | ||
| yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'color_frame_id' using value:" << m_color_frame_id; | ||
| } | ||
| else | ||
| { | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'color_frame_id' not found!"; | ||
| yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The color image frame"; | ||
| return false; | ||
| } | ||
| prop_check.unput("color_frame_id"); | ||
| } | ||
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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(RgbdSensor_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!"; | ||
| extra_params_found = true; | ||
| } | ||
| else | ||
| { | ||
| yCWarning(RgbdSensor_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 RgbdSensor_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const | ||
| { | ||
| std::string doc; | ||
| doc = doc + std::string("\n=============================================\n"); | ||
| doc = doc + std::string("This is the help for device: RgbdSensor_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("'period': refresh period of the broadcasted values in s\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("'force_info_synch': if 1, it forces synching images time stamp with and cameras time stamp\n"); | ||
| doc = doc + std::string("'depth_frame_id': The depth image frame\n"); | ||
| doc = doc + std::string("'color_frame_id': The color image frame\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_nws_ros2 --period 0.02 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> --force_info_synch 0 --depth_frame_id <mandatory_value> --color_frame_id <mandatory_value>\n"; | ||
| doc = doc + std::string("Using only mandatory params:\n"); | ||
| doc = doc + " yarpdev --device rgbdSensor_nws_ros2 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> --depth_frame_id <mandatory_value> --color_frame_id <mandatory_value>\n"; | ||
| doc = doc + std::string("=============================================\n\n"); return doc; | ||
| } |
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