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Added ParamsParser to Localization2D_nws_ros2
Signed-off-by: Ettore Landini <[email protected]>
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161 changes: 161 additions & 0 deletions
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src/devices/localization2D_nws_ros2/Localization2D_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: Fri Aug 2 15:24:54 2024 | ||
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| #include "Localization2D_nws_ros2_ParamsParser.h" | ||
| #include <yarp/os/LogStream.h> | ||
| #include <yarp/os/Value.h> | ||
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| namespace { | ||
| YARP_LOG_COMPONENT(Localization2D_nws_ros2ParamsCOMPONENT, "yarp.device.Localization2D_nws_ros2") | ||
| } | ||
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| Localization2D_nws_ros2_ParamsParser::Localization2D_nws_ros2_ParamsParser() | ||
| { | ||
| } | ||
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| std::vector<std::string> Localization2D_nws_ros2_ParamsParser::getListOfParams() const | ||
| { | ||
| std::vector<std::string> params; | ||
| params.push_back("period"); | ||
| params.push_back("node_name"); | ||
| params.push_back("ROS::parent_frame_id"); | ||
| params.push_back("ROS::child_frame_id"); | ||
| return params; | ||
| } | ||
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| bool Localization2D_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config) | ||
| { | ||
| //Check for --help option | ||
| if (config.check("help")) | ||
| { | ||
| yCInfo(Localization2D_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(Localization2D_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using value:" << m_period; | ||
| } | ||
| else | ||
| { | ||
| yCInfo(Localization2D_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(Localization2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name; | ||
| } | ||
| else | ||
| { | ||
| yCError(Localization2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'node_name' not found!"; | ||
| yCError(Localization2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The name of the ROS2 node"; | ||
| return false; | ||
| } | ||
| prop_check.unput("node_name"); | ||
| } | ||
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| //Parser of parameter ROS::parent_frame_id | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("ROS"); | ||
| if (sectionp.check("parent_frame_id")) | ||
| { | ||
| m_ROS_parent_frame_id = sectionp.find("parent_frame_id").asString(); | ||
| yCInfo(Localization2D_nws_ros2ParamsCOMPONENT) << "Parameter 'ROS::parent_frame_id' using value:" << m_ROS_parent_frame_id; | ||
| } | ||
| else | ||
| { | ||
| yCError(Localization2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'ROS::parent_frame_id' not found!"; | ||
| yCError(Localization2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The name of the odom data parent frame"; | ||
| return false; | ||
| } | ||
| prop_check.unput("ROS::parent_frame_id"); | ||
| } | ||
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| //Parser of parameter ROS::child_frame_id | ||
| { | ||
| yarp::os::Bottle sectionp; | ||
| sectionp = config.findGroup("ROS"); | ||
| if (sectionp.check("child_frame_id")) | ||
| { | ||
| m_ROS_child_frame_id = sectionp.find("child_frame_id").asString(); | ||
| yCInfo(Localization2D_nws_ros2ParamsCOMPONENT) << "Parameter 'ROS::child_frame_id' using value:" << m_ROS_child_frame_id; | ||
| } | ||
| else | ||
| { | ||
| yCError(Localization2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'ROS::child_frame_id' not found!"; | ||
| yCError(Localization2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The name of the odom data child frame"; | ||
| return false; | ||
| } | ||
| prop_check.unput("ROS::child_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(Localization2D_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!"; | ||
| extra_params_found = true; | ||
| } | ||
| else | ||
| { | ||
| yCWarning(Localization2D_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 Localization2D_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const | ||
| { | ||
| std::string doc; | ||
| doc = doc + std::string("\n=============================================\n"); | ||
| doc = doc + std::string("This is the help for device: Localization2D_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': The PeriodicThread period in seconds\n"); | ||
| doc = doc + std::string("'node_name': The name of the ROS2 node\n"); | ||
| doc = doc + std::string("'ROS::parent_frame_id': The name of the odom data parent frame\n"); | ||
| doc = doc + std::string("'ROS::child_frame_id': The name of the odom data child 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 localization2D_nws_ros2 --period 0.01 --node_name <mandatory_value> --ROS::parent_frame_id <mandatory_value> --ROS::child_frame_id <mandatory_value>\n"; | ||
| doc = doc + std::string("Using only mandatory params:\n"); | ||
| doc = doc + " yarpdev --device localization2D_nws_ros2 --node_name <mandatory_value> --ROS::parent_frame_id <mandatory_value> --ROS::child_frame_id <mandatory_value>\n"; | ||
| doc = doc + std::string("=============================================\n\n"); return doc; | ||
| } |
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src/devices/localization2D_nws_ros2/Localization2D_nws_ros2_ParamsParser.h
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| 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 | ||
| */ | ||
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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: Fri Aug 2 15:24:54 2024 | ||
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| #ifndef LOCALIZATION2D_NWS_ROS2_PARAMSPARSER_H | ||
| #define LOCALIZATION2D_NWS_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 Localization2D_nws_ros2. | ||
| * | ||
| * These are the used parameters: | ||
| * | Group name | Parameter name | Type | Units | Default Value | Required | Description | Notes | | ||
| * |:----------:|:---------------:|:------:|:-------:|:-------------:|:--------:|:--------------------------------------:|:-----:| | ||
| * | - | period | double | seconds | 0.01 | 0 | The PeriodicThread period in seconds | - | | ||
| * | - | node_name | string | - | - | 1 | The name of the ROS2 node | - | | ||
| * | ROS | parent_frame_id | string | - | - | 1 | The name of the odom data parent frame | - | | ||
| * | ROS | child_frame_id | string | - | - | 1 | The name of the odom data child frame | - | | ||
| * | ||
| * The device can be launched by yarpdev using one of the following examples (with and without all optional parameters): | ||
| * \code{.unparsed} | ||
| * yarpdev --device localization2D_nws_ros2 --period 0.01 --node_name <mandatory_value> --ROS::parent_frame_id <mandatory_value> --ROS::child_frame_id <mandatory_value> | ||
| * \endcode | ||
| * | ||
| * \code{.unparsed} | ||
| * yarpdev --device localization2D_nws_ros2 --node_name <mandatory_value> --ROS::parent_frame_id <mandatory_value> --ROS::child_frame_id <mandatory_value> | ||
| * \endcode | ||
| * | ||
| */ | ||
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| class Localization2D_nws_ros2_ParamsParser : public yarp::dev::IDeviceDriverParams | ||
| { | ||
| public: | ||
| Localization2D_nws_ros2_ParamsParser(); | ||
| ~Localization2D_nws_ros2_ParamsParser() override = default; | ||
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| public: | ||
| const std::string m_device_classname = {"Localization2D_nws_ros2"}; | ||
| const std::string m_device_name = {"localization2D_nws_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_period_defaultValue = {"0.01"}; | ||
| const std::string m_node_name_defaultValue = {""}; | ||
| const std::string m_ROS_parent_frame_id_defaultValue = {""}; | ||
| const std::string m_ROS_child_frame_id_defaultValue = {""}; | ||
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| double m_period = {0.01}; | ||
| 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_ROS_parent_frame_id = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters. | ||
| std::string m_ROS_child_frame_id = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters. | ||
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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 |
4 changes: 4 additions & 0 deletions
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src/devices/localization2D_nws_ros2/Localization2D_nws_ros2_params.md
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,4 @@ | ||
| | | period | double | seconds | 0.01 | No | The PeriodicThread period in seconds | | ||
| | | node_name | string | - | - | Yes | The name of the ROS2 node | | ||
| | ROS | parent_frame_id | string | - | - | Yes | The name of the odom data parent frame | | ||
| | ROS | child_frame_id | string | - | - | Yes | The name of the odom data child frame | |