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Added ParamsParser to Odometry2D_nws_ros2
Signed-off-by: Ettore Landini <[email protected]>
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src/devices/odometry2D_nws_ros2/Odometry2D_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: Wed Aug 28 15:28:34 2024 | ||
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| #include "Odometry2D_nws_ros2_ParamsParser.h" | ||
| #include <yarp/os/LogStream.h> | ||
| #include <yarp/os/Value.h> | ||
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| namespace { | ||
| YARP_LOG_COMPONENT(Odometry2D_nws_ros2ParamsCOMPONENT, "yarp.device.Odometry2D_nws_ros2") | ||
| } | ||
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| Odometry2D_nws_ros2_ParamsParser::Odometry2D_nws_ros2_ParamsParser() | ||
| { | ||
| } | ||
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| std::vector<std::string> Odometry2D_nws_ros2_ParamsParser::getListOfParams() const | ||
| { | ||
| std::vector<std::string> params; | ||
| params.push_back("period"); | ||
| params.push_back("node_name"); | ||
| params.push_back("topic_name"); | ||
| params.push_back("odom_frame"); | ||
| params.push_back("base_frame"); | ||
| return params; | ||
| } | ||
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| bool Odometry2D_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config) | ||
| { | ||
| //Check for --help option | ||
| if (config.check("help")) | ||
| { | ||
| yCInfo(Odometry2D_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(Odometry2D_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using value:" << m_period; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Odometry2D_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(Odometry2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'node_name' not found!"; | ||
| yCError(Odometry2D_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 topic_name | ||
| { | ||
| if (config.check("topic_name")) | ||
| { | ||
| m_topic_name = config.find("topic_name").asString(); | ||
| yCInfo(Odometry2D_nws_ros2ParamsCOMPONENT) << "Parameter 'topic_name' using value:" << m_topic_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'topic_name' not found!"; | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the topic where the device must publish the data"; | ||
| return false; | ||
| } | ||
| prop_check.unput("topic_name"); | ||
| } | ||
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| //Parser of parameter odom_frame | ||
| { | ||
| if (config.check("odom_frame")) | ||
| { | ||
| m_odom_frame = config.find("odom_frame").asString(); | ||
| yCInfo(Odometry2D_nws_ros2ParamsCOMPONENT) << "Parameter 'odom_frame' using value:" << m_odom_frame; | ||
| } | ||
| else | ||
| { | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'odom_frame' not found!"; | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the reference frame for odometry"; | ||
| return false; | ||
| } | ||
| prop_check.unput("odom_frame"); | ||
| } | ||
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| //Parser of parameter base_frame | ||
| { | ||
| if (config.check("base_frame")) | ||
| { | ||
| m_base_frame = config.find("base_frame").asString(); | ||
| yCInfo(Odometry2D_nws_ros2ParamsCOMPONENT) << "Parameter 'base_frame' using value:" << m_base_frame; | ||
| } | ||
| else | ||
| { | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'base_frame' not found!"; | ||
| yCError(Odometry2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the base frame for odometry"; | ||
| return false; | ||
| } | ||
| prop_check.unput("base_frame"); | ||
| } | ||
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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(Odometry2D_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!"; | ||
| extra_params_found = true; | ||
| } | ||
| else | ||
| { | ||
| yCWarning(Odometry2D_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 Odometry2D_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const | ||
| { | ||
| std::string doc; | ||
| doc = doc + std::string("\n=============================================\n"); | ||
| doc = doc + std::string("This is the help for device: Odometry2D_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("'topic_name': name of the topic where the device must publish the data\n"); | ||
| doc = doc + std::string("'odom_frame': name of the reference frame for odometry\n"); | ||
| doc = doc + std::string("'base_frame': name of the base frame for odometry\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 odometry2D_nws_ros2 --period 0.02 --node_name <mandatory_value> --topic_name <mandatory_value> --odom_frame <mandatory_value> --base_frame <mandatory_value>\n"; | ||
| doc = doc + std::string("Using only mandatory params:\n"); | ||
| doc = doc + " yarpdev --device odometry2D_nws_ros2 --node_name <mandatory_value> --topic_name <mandatory_value> --odom_frame <mandatory_value> --base_frame <mandatory_value>\n"; | ||
| doc = doc + std::string("=============================================\n\n"); return doc; | ||
| } |
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