Added ParamsParser to Rangefinder2D_nws_ros2

Signed-off-by: Ettore Landini <[email protected]>

src/devices/rangefinder2D_nws_ros2/CMakeLists.txt

@@ -11,11 +11,14 @@ yarp_prepare_plugin(rangefinder2D_nws_ros2
 
 if(NOT SKIP_rangefinder2D_nws_ros2)
   yarp_add_plugin(yarp_rangefinder2D_nws_ros2)
+  generateDeviceParamsParser(Rangefinder2D_nws_ros2 rangefinder2D_nws_ros2)
 
   target_sources(yarp_rangefinder2D_nws_ros2
     PRIVATE
       Rangefinder2D_nws_ros2.cpp
       Rangefinder2D_nws_ros2.h
+      Rangefinder2D_nws_ros2_ParamsParser.cpp
+      Rangefinder2D_nws_ros2_ParamsParser.h
   )
   target_sources(yarp_rangefinder2D_nws_ros2 PRIVATE $<TARGET_OBJECTS:Ros2Utils>)
 

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2.cpp

@@ -145,16 +145,11 @@ void Rangefinder2D_nws_ros2::run()
 
 bool Rangefinder2D_nws_ros2::open(yarp::os::Searchable &config)
 {
-    //wrapper params
-    m_topic    = config.check("topic_name",  yarp::os::Value("laser_topic"), "Name of the ROS2 topic").asString();
-    m_frame_id = config.check("frame_id",  yarp::os::Value("laser_frame"), "Name of the frameId").asString();
-    m_node_name = config.check("node_name",  yarp::os::Value("laser_node"), "Name of the node").asString();
-    m_period   = config.check("period", yarp::os::Value(0.010), "Period of the thread").asFloat64();
-
+    parseParams(config);
     //create the topic
     m_node = NodeCreator::createNode(m_node_name);
-    m_publisher = m_node->create_publisher<sensor_msgs::msg::LaserScan>(m_topic, 10);
-    yCInfo(RANGEFINDER2D_NWS_ROS2, "Opened topic: %s", m_topic.c_str());
+    m_publisher = m_node->create_publisher<sensor_msgs::msg::LaserScan>(m_topic_name, 10);
+    yCInfo(RANGEFINDER2D_NWS_ROS2, "Opened topic: %s", m_topic_name.c_str());
 
     yCInfo(RANGEFINDER2D_NWS_ROS2, "Waiting for device to attach");
 

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2.h

@@ -15,6 +15,8 @@
 #include <std_msgs/msg/string.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
 
+#include "Rangefinder2D_nws_ros2_ParamsParser.h"
+
 #include <mutex>
 
 /**
@@ -28,7 +30,8 @@
 class Rangefinder2D_nws_ros2 :
         public yarp::dev::DeviceDriver,
         public yarp::os::PeriodicThread,
-        public yarp::dev::WrapperSingle
+        public yarp::dev::WrapperSingle,
+        Rangefinder2D_nws_ros2_ParamsParser
 {
 public:
     Rangefinder2D_nws_ros2();
@@ -59,11 +62,6 @@ class Rangefinder2D_nws_ros2 :
     double m_minAngle, m_maxAngle;
     double m_minDistance, m_maxDistance;
     double m_resolution;
-    double m_period;
-
-    std::string m_topic;
-    std::string m_node_name;
-    std::string m_frame_id;
 };
 
 #endif // YARP_ROS2_ROS2TEST_H

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2_ParamsParser.cpp

@@ -0,0 +1,155 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+
+// 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.
+
+// Generated on: Wed Aug 28 16:30:15 2024
+
+
+#include "Rangefinder2D_nws_ros2_ParamsParser.h"
+#include <yarp/os/LogStream.h>
+#include <yarp/os/Value.h>
+
+namespace {
+    YARP_LOG_COMPONENT(Rangefinder2D_nws_ros2ParamsCOMPONENT, "yarp.device.Rangefinder2D_nws_ros2")
+}
+
+
+Rangefinder2D_nws_ros2_ParamsParser::Rangefinder2D_nws_ros2_ParamsParser()
+{
+}
+
+
+std::vector<std::string> Rangefinder2D_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("frame_id");
+    return params;
+}
+
+
+bool      Rangefinder2D_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config)
+{
+    //Check for --help option
+    if (config.check("help"))
+    {
+        yCInfo(Rangefinder2D_nws_ros2ParamsCOMPONENT) << getDocumentationOfDeviceParams();
+    }
+
+    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(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using value:" << m_period;
+        }
+        else
+        {
+            yCInfo(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using DEFAULT value:" << m_period;
+        }
+        prop_check.unput("period");
+    }
+
+    //Parser of parameter node_name
+    {
+        if (config.check("node_name"))
+        {
+            m_node_name = config.find("node_name").asString();
+            yCInfo(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name;
+        }
+        else
+        {
+            yCError(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'node_name' not found!";
+            yCError(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the ros2 node";
+            return false;
+        }
+        prop_check.unput("node_name");
+    }
+
+    //Parser of parameter topic_name
+    {
+        if (config.check("topic_name"))
+        {
+            m_topic_name = config.find("topic_name").asString();
+            yCInfo(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Parameter 'topic_name' using value:" << m_topic_name;
+        }
+        else
+        {
+            yCError(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'topic_name' not found!";
+            yCError(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the topic where the device must publish the data";
+            return false;
+        }
+        prop_check.unput("topic_name");
+    }
+
+    //Parser of parameter frame_id
+    {
+        if (config.check("frame_id"))
+        {
+            m_frame_id = config.find("frame_id").asString();
+            yCInfo(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Parameter 'frame_id' using value:" << m_frame_id;
+        }
+        else
+        {
+            yCInfo(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "Parameter 'frame_id' using DEFAULT value:" << m_frame_id;
+        }
+        prop_check.unput("frame_id");
+    }
+
+    /*
+    //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(Rangefinder2D_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
+                extra_params_found = true;
+            }
+            else
+            {
+                yCWarning(Rangefinder2D_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;
+}
+
+
+std::string      Rangefinder2D_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const
+{
+    std::string doc;
+    doc = doc + std::string("\n=============================================\n");
+    doc = doc + std::string("This is the help for device: Rangefinder2D_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("'frame_id': name of the base frameId\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 rangefinder2D_nws_ros2 --period 0.02 --node_name <mandatory_value> --topic_name <mandatory_value> --frame_id laser_frame\n";
+    doc = doc + std::string("Using only mandatory params:\n");
+    doc = doc + " yarpdev --device rangefinder2D_nws_ros2 --node_name <mandatory_value> --topic_name <mandatory_value>\n";
+    doc = doc + std::string("=============================================\n\n");    return doc;
+}

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2_ParamsParser.h

@@ -0,0 +1,78 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: LGPL-2.1-or-later
+ */
+
+
+// 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.
+
+// Generated on: Wed Aug 28 16:30:15 2024
+
+
+#ifndef RANGEFINDER2D_NWS_ROS2_PARAMSPARSER_H
+#define RANGEFINDER2D_NWS_ROS2_PARAMSPARSER_H
+
+#include <yarp/os/Searchable.h>
+#include <yarp/dev/IDeviceDriverParams.h>
+#include <string>
+#include <cmath>
+
+/**
+* This class is the parameters parser for class Rangefinder2D_nws_ros2.
+*
+* These are the used parameters:
+* | Group name | Parameter name | Type   | Units | Default Value | Required | Description                                              | Notes                          |
+* |:----------:|:--------------:|:------:|:-----:|:-------------:|:--------:|:--------------------------------------------------------:|:------------------------------:|
+* | -          | period         | double | s     | 0.02          | 0        | refresh period of the broadcasted values in s            | -                              |
+* | -          | node_name      | string | -     | -             | 1        | name of the ros2 node                                    | -                              |
+* | -          | topic_name     | string | -     | -             | 1        | name of the topic where the device must publish the data | must begin with an initial '/' |
+* | -          | frame_id       | string | -     | laser_frame   | 0        | name of the base frameId                                 | -                              |
+*
+* The device can be launched by yarpdev using one of the following examples (with and without all optional parameters):
+* \code{.unparsed}
+* yarpdev --device rangefinder2D_nws_ros2 --period 0.02 --node_name <mandatory_value> --topic_name <mandatory_value> --frame_id laser_frame
+* \endcode
+*
+* \code{.unparsed}
+* yarpdev --device rangefinder2D_nws_ros2 --node_name <mandatory_value> --topic_name <mandatory_value>
+* \endcode
+*
+*/
+
+class Rangefinder2D_nws_ros2_ParamsParser : public yarp::dev::IDeviceDriverParams
+{
+public:
+    Rangefinder2D_nws_ros2_ParamsParser();
+    ~Rangefinder2D_nws_ros2_ParamsParser() override = default;
+
+public:
+    const std::string m_device_classname = {"Rangefinder2D_nws_ros2"};
+    const std::string m_device_name = {"rangefinder2D_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 = {};
+
+    const std::string m_period_defaultValue = {"0.02"};
+    const std::string m_node_name_defaultValue = {""};
+    const std::string m_topic_name_defaultValue = {""};
+    const std::string m_frame_id_defaultValue = {"laser_frame"};
+
+    double m_period = {0.02};
+    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_topic_name = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
+    std::string m_frame_id = {"laser_frame"};
+
+    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;
+};
+
+#endif

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2_params.md

@@ -0,0 +1,4 @@
+| | period      | double  | s              |   0.02        | No                             | refresh period of the broadcasted values in s            |                                  |
+| | node_name   | string  | -              |   -           | Yes                            | name of the ros2 node                                    |                                  |
+| | topic_name  | string  | -              |   -           | Yes                            | name of the topic where the device must publish the data | must begin with an initial '/'   |
+| | frame_id    | string  | -              |  laser_frame  | No                             | name of the base frameId                                 |                                  |