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ControlBoardCouplingHandler: parser generated from md
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@Nicogene @randaz81
Nicogene authored and randaz81 committed Mar 9, 2024
1 parent 93c8ad7 commit 52cea6a
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Showing 3 changed files with 452 additions and 2 deletions.
6 changes: 4 additions & 2 deletions src/devices/controlBoardCouplingHandler/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ yarp_prepare_plugin(controlBoardCouplingHandler
CATEGORY device
TYPE ControlBoardCouplingHandler
INCLUDE ControlBoardCouplingHandler.h
GENERATE_PARSER
EXTRA_CONFIG
WRAPPER=controlboard_nws_yarp
DEFAULT ON
Expand All @@ -13,14 +14,15 @@ yarp_prepare_plugin(controlBoardCouplingHandler

if(NOT SKIP_controlBoardCouplingHandler)
yarp_add_plugin(yarp_controlBoardCouplingHandler)
generateDeviceParamsParser(ControlBoardCouplingHandler)

target_sources(yarp_controlBoardCouplingHandler
PRIVATE
ControlBoardCouplingHandler.cpp
ControlBoardCouplingHandler.h
ControlBoardCouplingHandlerLogComponent.cpp
ControlBoardCouplingHandlerLogComponent.h)
ControlBoardCouplingHandlerLogComponent.h
ControlBoardCouplingHandler_ParamsParser.cpp
ControlBoardCouplingHandler_ParamsParser.h)

target_link_libraries(yarp_controlBoardCouplingHandler
PRIVATE
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355 changes: 355 additions & 0 deletions src/devices/controlBoardCouplingHandler/ControlBoardCouplingHandler_ParamsParser.cpp
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@@ -0,0 +1,355 @@
/*
* 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: Tue Feb 27 14:27:36 2024


#include "ControlBoardCouplingHandler_ParamsParser.h"
#include <yarp/os/LogStream.h>
#include <yarp/os/Value.h>

namespace {
YARP_LOG_COMPONENT(ControlBoardCouplingHandlerParamsCOMPONENT, "yarp.device.ControlBoardCouplingHandler")
}


ControlBoardCouplingHandler_ParamsParser::ControlBoardCouplingHandler_ParamsParser()
{
}


std::vector<std::string> ControlBoardCouplingHandler_ParamsParser::getListOfParams() const
{
std::vector<std::string> params;
params.push_back("jointNames");
params.push_back("LIMITS::");
params.push_back("LIMITS::jntPosMin");
params.push_back("LIMITS::jntPosMax");
params.push_back("COUPLING::");
params.push_back("COUPLING::actuatedAxesNames");
params.push_back("COUPLING::actuatedAxesPosMin");
params.push_back("COUPLING::actuatedAxesPosMax");
params.push_back("COUPLING_PARAMS::");
return params;
}


bool ControlBoardCouplingHandler_ParamsParser::parseParams(const yarp::os::Searchable & config)
{
//Check for --help option
if (config.check("help"))
{
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << getDocumentationOfDeviceParams();
}

std::string config_string = config.toString();
yarp::os::Property prop_check(config_string.c_str());
//Parser of parameter jointNames
{
if (config.check("jointNames"))
{
{
m_jointNames.clear();
yarp::os::Bottle* tempBot = config.find("jointNames").asList();
if (tempBot)
{
std::string tempBots = tempBot->toString();
for (size_t i=0; i<tempBot->size(); i++)
{
m_jointNames.push_back(tempBot->get(i).asString());
}
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) <<"parameter 'jointNames' is not a properly formatted bottle";
}
}
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'jointNames' using value:" << m_jointNames;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'jointNames' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: Names of the physical joints";
return false;
}
prop_check.unput("jointNames");
}

//Parser of parameter LIMITS::
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("LIMITS");
if (sectionp.check(""))
{
m_LIMITS_ = sectionp.find("").asString();
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'LIMITS::' using value:" << m_LIMITS_;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'LIMITS::' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: string containing the physical joint limits";
return false;
}
prop_check.unput("LIMITS::");
}

//Parser of parameter LIMITS::jntPosMin
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("LIMITS");
if (sectionp.check("jntPosMin"))
{
{
m_LIMITS_jntPosMin.clear();
yarp::os::Bottle* tempBot = sectionp.find("jntPosMin").asList();
if (tempBot)
{
std::string tempBots = tempBot->toString();
for (size_t i=0; i<tempBot->size(); i++)
{
m_LIMITS_jntPosMin.push_back(tempBot->get(i).asFloat64());
}
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) <<"parameter 'LIMITS_jntPosMin' is not a properly formatted bottle";
}
}
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'LIMITS::jntPosMin' using value:" << m_LIMITS_jntPosMin;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'LIMITS::jntPosMin' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: Phyisical joints' position minimum";
return false;
}
prop_check.unput("LIMITS::jntPosMin");
}

//Parser of parameter LIMITS::jntPosMax
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("LIMITS");
if (sectionp.check("jntPosMax"))
{
{
m_LIMITS_jntPosMax.clear();
yarp::os::Bottle* tempBot = sectionp.find("jntPosMax").asList();
if (tempBot)
{
std::string tempBots = tempBot->toString();
for (size_t i=0; i<tempBot->size(); i++)
{
m_LIMITS_jntPosMax.push_back(tempBot->get(i).asFloat64());
}
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) <<"parameter 'LIMITS_jntPosMax' is not a properly formatted bottle";
}
}
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'LIMITS::jntPosMax' using value:" << m_LIMITS_jntPosMax;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'LIMITS::jntPosMax' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: Phyisical joints' position maximum";
return false;
}
prop_check.unput("LIMITS::jntPosMax");
}

//Parser of parameter COUPLING::
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("COUPLING");
if (sectionp.check(""))
{
m_COUPLING_ = sectionp.find("").asString();
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'COUPLING::' using value:" << m_COUPLING_;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'COUPLING::' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: The string containing the coupling description";
return false;
}
prop_check.unput("COUPLING::");
}

//Parser of parameter COUPLING::actuatedAxesNames
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("COUPLING");
if (sectionp.check("actuatedAxesNames"))
{
{
m_COUPLING_actuatedAxesNames.clear();
yarp::os::Bottle* tempBot = sectionp.find("actuatedAxesNames").asList();
if (tempBot)
{
std::string tempBots = tempBot->toString();
for (size_t i=0; i<tempBot->size(); i++)
{
m_COUPLING_actuatedAxesNames.push_back(tempBot->get(i).asString());
}
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) <<"parameter 'COUPLING_actuatedAxesNames' is not a properly formatted bottle";
}
}
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'COUPLING::actuatedAxesNames' using value:" << m_COUPLING_actuatedAxesNames;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'COUPLING::actuatedAxesNames' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: Names of the actuated axes";
return false;
}
prop_check.unput("COUPLING::actuatedAxesNames");
}

//Parser of parameter COUPLING::actuatedAxesPosMin
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("COUPLING");
if (sectionp.check("actuatedAxesPosMin"))
{
{
m_COUPLING_actuatedAxesPosMin.clear();
yarp::os::Bottle* tempBot = sectionp.find("actuatedAxesPosMin").asList();
if (tempBot)
{
std::string tempBots = tempBot->toString();
for (size_t i=0; i<tempBot->size(); i++)
{
m_COUPLING_actuatedAxesPosMin.push_back(tempBot->get(i).asString());
}
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) <<"parameter 'COUPLING_actuatedAxesPosMin' is not a properly formatted bottle";
}
}
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'COUPLING::actuatedAxesPosMin' using value:" << m_COUPLING_actuatedAxesPosMin;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'COUPLING::actuatedAxesPosMin' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: Actuated axes' position minimum";
return false;
}
prop_check.unput("COUPLING::actuatedAxesPosMin");
}

//Parser of parameter COUPLING::actuatedAxesPosMax
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("COUPLING");
if (sectionp.check("actuatedAxesPosMax"))
{
{
m_COUPLING_actuatedAxesPosMax.clear();
yarp::os::Bottle* tempBot = sectionp.find("actuatedAxesPosMax").asList();
if (tempBot)
{
std::string tempBots = tempBot->toString();
for (size_t i=0; i<tempBot->size(); i++)
{
m_COUPLING_actuatedAxesPosMax.push_back(tempBot->get(i).asString());
}
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) <<"parameter 'COUPLING_actuatedAxesPosMax' is not a properly formatted bottle";
}
}
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'COUPLING::actuatedAxesPosMax' using value:" << m_COUPLING_actuatedAxesPosMax;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'COUPLING::actuatedAxesPosMax' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: Actuated axes' position maximum";
return false;
}
prop_check.unput("COUPLING::actuatedAxesPosMax");
}

//Parser of parameter COUPLING_PARAMS::
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("COUPLING_PARAMS");
if (sectionp.check(""))
{
m_COUPLING_PARAMS_ = sectionp.find("").asString();
yCInfo(ControlBoardCouplingHandlerParamsCOMPONENT) << "Parameter 'COUPLING_PARAMS::' using value:" << m_COUPLING_PARAMS_;
}
else
{
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Mandatory parameter 'COUPLING_PARAMS::' not found!";
yCError(ControlBoardCouplingHandlerParamsCOMPONENT) << "Description of the parameter: The string containing the coupling params";
return false;
}
prop_check.unput("COUPLING_PARAMS::");
}

/*
//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(ControlBoardCouplingHandlerParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
extra_params_found = true;
}
else
{
yCWarning(ControlBoardCouplingHandlerParamsCOMPONENT) << "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 ControlBoardCouplingHandler_ParamsParser::getDocumentationOfDeviceParams() const
{
std::string doc;
doc = doc + std::string("\n=============================================\n");
doc = doc + std::string("This is the help for device: ControlBoardCouplingHandler\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("'jointNames': Names of the physical joints\n");
doc = doc + std::string("'LIMITS::': string containing the physical joint limits\n");
doc = doc + std::string("'LIMITS::jntPosMin': Phyisical joints' position minimum\n");
doc = doc + std::string("'LIMITS::jntPosMax': Phyisical joints' position maximum\n");
doc = doc + std::string("'COUPLING::': The string containing the coupling description\n");
doc = doc + std::string("'COUPLING::actuatedAxesNames': Names of the actuated axes\n");
doc = doc + std::string("'COUPLING::actuatedAxesPosMin': Actuated axes' position minimum\n");
doc = doc + std::string("'COUPLING::actuatedAxesPosMax': Actuated axes' position maximum\n");
doc = doc + std::string("'COUPLING_PARAMS::': The string containing the coupling params\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 controlBoardCouplingHandler --jointNames <mandatory_value> --LIMITS:: <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING:: <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS:: <mandatory_value>\n";
doc = doc + std::string("Using only mandatory params:\n");
doc = doc + " yarpdev --device controlBoardCouplingHandler --jointNames <mandatory_value> --LIMITS:: <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING:: <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS:: <mandatory_value>\n";
doc = doc + std::string("=============================================\n\n"); return doc;
}
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