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| # check-xml | ||
| This folder contains tools dedicated to `XML` files check. | ||
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| ## Content | ||
| Available tools are : | ||
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| - [`check-nws-nwc-xml`](./check-nws-nwc-xml/README.md) | ||
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| ___ | ||
| ### check-nws-nwc-xml | ||
| This tool has been developed due to the need to check `xml` files consistency for `CAN` based robots after manual modification due to the new `NWS/NWC` layers implemented in `YARP-3.5`. | ||
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| in fact, while for ethernet based robots, we have the possibility to run `yarprobotinterface` in dry-run mode (without having the phisical robot connected), as for now this is not possible on `CAN` based robots. | ||
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| Considering the effort to update the parser in order to allow the dry-run mode also for `CAN` based robots, we opted to proceed writing a dedicated program using both `XSD` and `XPATH` technologies. |
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experimentalSetups/check-xml/check-nws-nwc-xml/CMakeLists.txt
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| ################################################################################ | ||
| # # | ||
| # Copyright (C) 2020 Fondazione Istitito Italiano di Tecnologia (IIT) # | ||
| # All Rights Reserved. # | ||
| # # | ||
| ################################################################################ | ||
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| cmake_minimum_required(VERSION 3.12) | ||
| project(check-nws-nwc-xml) | ||
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| include(FetchContent) | ||
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| FetchContent_Declare( | ||
| pugixml | ||
| GIT_REPOSITORY https://github.com/zeux/pugixml.git | ||
| GIT_TAG origin/master | ||
| ) | ||
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| FetchContent_GetProperties(pugixml) | ||
| if(NOT pugixml) | ||
| FetchContent_Populate(pugixml) | ||
| add_subdirectory(${pugixml_SOURCE_DIR} ${pugixml_BINARY_DIR}) | ||
| endif() | ||
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| add_executable(${PROJECT_NAME}) | ||
| target_sources(${PROJECT_NAME} PRIVATE check-nws-nwc-xml.cpp) | ||
| target_link_libraries(${PROJECT_NAME} PRIVATE pugixml::pugixml) | ||
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| # install | ||
| install( | ||
| TARGETS ${PROJECT_NAME} | ||
| EXPORT ${CMAKE_PROJECT_NAME} | ||
| LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} | ||
| ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} | ||
| RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} | ||
| PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) |
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experimentalSetups/check-xml/check-nws-nwc-xml/README.md
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| # check-nws-nwc-xml | ||
| This code has been used to check `xml` files consistency after manual modification due to the new `NWS/NWC` layers implemented in `YARP-3.5`. | ||
| The program uses `XSD` schema and `XPATH` to check `XML` files. | ||
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| ## Usage | ||
| 1. Install the `libxml2-utils` package : | ||
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| ```sh | ||
| sudo apt install libxml2-utils | ||
| ``` | ||
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| 2. Build the code : | ||
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| ```sh | ||
| cd <your-robots-configuration-folder>/experimentalSetups/check-nws-nwc-xml | ||
| mkdir build | ||
| cd build | ||
| ccmake .. | ||
| make | ||
| ``` | ||
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| 3. Run the program : | ||
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| ```sh | ||
| cd <your-robots-configuration-folder>/experimentalSetups/check-nws-nwc-xml/build | ||
| ./check-nws-nwc-xml <robot-folder-absolute-path> | ||
| ``` | ||
| ## Example | ||
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| Run : | ||
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| ```sh | ||
| ./check-nws-nwc-xml /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01/ | ||
| ``` | ||
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| Output : | ||
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| ``` | ||
| 1 - test yarprobotinterface.ini presence ************** | ||
| yarprobotinterface.ini FOUND! PASS | ||
| 2 - test included xml files presence ************** | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/left_arm_cartesian.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/right_arm_cartesian.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_remapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_remapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_remapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_remapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_remapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_remapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_left_arm.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_left_hand.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_right_arm.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_right_hand.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_left_leg.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_right_leg.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_head.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_torso.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/left_arm_VFT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/left_leg_VFT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/right_arm_VFT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/right_leg_VFT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/torso_VFT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/left_arm_virtual_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/left_leg_virtual_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/right_arm_virtual_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/right_leg_virtual_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/torso_virtual_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/left_arm_FT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/left_leg_FT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/right_arm_FT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/right_leg_FT_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/MAIS/left_hand_mais_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/MAIS/right_hand_mais_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/left_arm_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/left_leg_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/right_arm_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/right_leg_strain.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/MAIS/left_hand_mais.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/MAIS/right_hand_mais.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/skin/left_arm_skin_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/skin/right_arm_skin_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/skin/torso_skin_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/skin/left_arm.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/skin/right_arm.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/skin/torso.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-imuFilter_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-imuFilter.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-inertials_wrapper.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-inertials_wrapper-deprecated.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/inertials/head-inertial.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/head_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/torso_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_leg_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_leg_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_arm_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_arm_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_hand_calib.xml | ||
| found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_hand_calib.xml | ||
| *************************************** | ||
| PASS ! found 63 of 63 file included. | ||
| 3 - test calibrators/wrappers/remappers/cartesian xml files consistency ************** | ||
| head - CALIBRATOR CHECK PASSED! | ||
| head - WRAPPER CHECK PASSED! | ||
| head - REMAPPER CHECK PASSED! | ||
| torso - CALIBRATOR CHECK PASSED! | ||
| torso - WRAPPER CHECK PASSED! | ||
| torso - REMAPPER CHECK PASSED! | ||
| right_leg - CALIBRATOR CHECK PASSED! | ||
| right_leg - WRAPPER CHECK PASSED! | ||
| right_leg - REMAPPER CHECK PASSED! | ||
| left_leg - CALIBRATOR CHECK PASSED! | ||
| left_leg - WRAPPER CHECK PASSED! | ||
| left_leg - REMAPPER CHECK PASSED! | ||
| left_arm - CALIBRATOR CHECK PASSED! | ||
| left_arm - WRAPPER CHECK PASSED! | ||
| left_arm - REMAPPER CHECK PASSED! | ||
| left_arm - CARTESIAN CHECK PASSED! | ||
| right_arm - CALIBRATOR CHECK PASSED! | ||
| right_arm - WRAPPER CHECK PASSED! | ||
| right_arm - REMAPPER CHECK PASSED! | ||
| right_arm - CARTESIAN CHECK PASSED! | ||
| 4 - test calibrators consistency with XSD schema ************** | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/head_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/head_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/torso_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/torso_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_leg_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_leg_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_leg_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_leg_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_arm_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_arm_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_arm_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_arm_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_hand_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_hand_calib.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_hand_calib.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_hand_calib.xml validates | ||
| Calibrators XSD check passed! | ||
| 5 - test cartesian consistency with XSD schema ************** | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/left_arm_cartesian.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/left_arm_cartesian.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/right_arm_cartesian.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/right_arm_cartesian.xml validates | ||
| Cartesian XSD check passed! | ||
| 6 - test wrappers consistency with XSD schema ************** | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_wrapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_wrapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_wrapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_wrapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_wrapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_wrapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_wrapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_wrapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_wrapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_wrapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_wrapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_wrapper.xml validates | ||
| Wrappers XSD check passed! | ||
| 7 - test remappers consistency with XSD schema ************** | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_remapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_remapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_remapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_remapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_remapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_remapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_remapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_remapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_remapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_remapper.xml validates | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_remapper.xml | ||
| /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_remapper.xml validates | ||
| Remappers XSD check passed! | ||
| *************************************************** | ||
| ALL TESTS PASSED!! | ||
| ``` |
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