Navigation2D_nwc_yarp_ParamsParser.cpp

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
 
// Generated by yarpDeviceParamParserGenerator (2.0)
// 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: Thu May 22 11:32:43 2025
 
 
#include "Navigation2D_nwc_yarp_ParamsParser.h"
#include <yarp/os/LogStream.h>
#include <yarp/os/Value.h>
 
namespace {
    YARP_LOG_COMPONENT(Navigation2D_nwc_yarpParamsCOMPONENT, "yarp.device.Navigation2D_nwc_yarp")
}
 
 
Navigation2D_nwc_yarp_ParamsParser::Navigation2D_nwc_yarp_ParamsParser()
{
}
 
 
std::vector<std::string> Navigation2D_nwc_yarp_ParamsParser::getListOfParams() const
{
    std::vector<std::string> params;
    params.push_back("local");
    params.push_back("navigation_server");
    params.push_back("map_locations_server");
    params.push_back("localization_server");
    return params;
}
 
 
bool Navigation2D_nwc_yarp_ParamsParser::getParamValue(const std::string& paramName, std::string& paramValue) const
{
    if (paramName =="local")
    {
        paramValue = m_local;
        return true;
    }
    if (paramName =="navigation_server")
    {
        paramValue = m_navigation_server;
        return true;
    }
    if (paramName =="map_locations_server")
    {
        paramValue = m_map_locations_server;
        return true;
    }
    if (paramName =="localization_server")
    {
        paramValue = m_localization_server;
        return true;
    }
 
    yError() <<"parameter '" << paramName << "' was not found";
    return false;
 
}
 
 
std::string Navigation2D_nwc_yarp_ParamsParser::getConfiguration() const
{
    //This is a sub-optimal solution.
    //Ideally getConfiguration() should return all parameters but it is currently
    //returning only user provided parameters (excluding default values)
    //This behaviour will be fixed in the near future.
    std::string s_cfg = m_provided_configuration;
    return s_cfg;
}
 
bool      Navigation2D_nwc_yarp_ParamsParser::parseParams(const yarp::os::Searchable & config)
{
    //Check for --help option
    if (config.check("help"))
    {
        yCInfo(Navigation2D_nwc_yarpParamsCOMPONENT) << getDocumentationOfDeviceParams();
    }
 
    m_provided_configuration = config.toString();
    yarp::os::Property prop_check(m_provided_configuration.c_str());
    //Parser of parameter local
    {
        if (config.check("local"))
        {
            m_local = config.find("local").asString();
            yCInfo(Navigation2D_nwc_yarpParamsCOMPONENT) << "Parameter 'local' using value:" << m_local;
        }
        else
        {
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Mandatory parameter 'local' not found!";
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Description of the parameter: Full port name opened by the Navigation2D_nwc_yarp device.";
            return false;
        }
        prop_check.unput("local");
    }
 
    //Parser of parameter navigation_server
    {
        if (config.check("navigation_server"))
        {
            m_navigation_server = config.find("navigation_server").asString();
            yCInfo(Navigation2D_nwc_yarpParamsCOMPONENT) << "Parameter 'navigation_server' using value:" << m_navigation_server;
        }
        else
        {
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Mandatory parameter 'navigation_server' not found!";
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Description of the parameter: Full port name of the port remotely opened by the Navigation server, to which the Navigation2D_nwc_yarp connects to.";
            return false;
        }
        prop_check.unput("navigation_server");
    }
 
    //Parser of parameter map_locations_server
    {
        if (config.check("map_locations_server"))
        {
            m_map_locations_server = config.find("map_locations_server").asString();
            yCInfo(Navigation2D_nwc_yarpParamsCOMPONENT) << "Parameter 'map_locations_server' using value:" << m_map_locations_server;
        }
        else
        {
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Mandatory parameter 'map_locations_server' not found!";
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Description of the parameter: Full port name of the port remotely opened by the Map2DServer, to which the Navigation2D_nwc_yarp connects to.";
            return false;
        }
        prop_check.unput("map_locations_server");
    }
 
    //Parser of parameter localization_server
    {
        if (config.check("localization_server"))
        {
            m_localization_server = config.find("localization_server").asString();
            yCInfo(Navigation2D_nwc_yarpParamsCOMPONENT) << "Parameter 'localization_server' using value:" << m_localization_server;
        }
        else
        {
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Mandatory parameter 'localization_server' not found!";
            yCError(Navigation2D_nwc_yarpParamsCOMPONENT) << "Description of the parameter: Full port name of the port remotely opened by the Localization server, to which the Navigation2D_nwc_yarp connects to.";
            return false;
        }
        prop_check.unput("localization_server");
    }
 
    /*
    //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(Navigation2D_nwc_yarpParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
                extra_params_found = true;
            }
            else
            {
                yCWarning(Navigation2D_nwc_yarpParamsCOMPONENT) << "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      Navigation2D_nwc_yarp_ParamsParser::getDocumentationOfDeviceParams() const
{
    std::string doc;
    doc = doc + std::string("\n=============================================\n");
    doc = doc + std::string("This is the help for device: Navigation2D_nwc_yarp\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("'local': Full port name opened by the Navigation2D_nwc_yarp device.\n");
    doc = doc + std::string("'navigation_server': Full port name of the port remotely opened by the Navigation server, to which the Navigation2D_nwc_yarp connects to.\n");
    doc = doc + std::string("'map_locations_server': Full port name of the port remotely opened by the Map2DServer, to which the Navigation2D_nwc_yarp connects to.\n");
    doc = doc + std::string("'localization_server': Full port name of the port remotely opened by the Localization server, to which the Navigation2D_nwc_yarp connects to.\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 navigation2D_nwc_yarp --local <mandatory_value> --navigation_server <mandatory_value> --map_locations_server <mandatory_value> --localization_server <mandatory_value>\n";
    doc = doc + std::string("Using only mandatory params:\n");
    doc = doc + " yarpdev --device navigation2D_nwc_yarp --local <mandatory_value> --navigation_server <mandatory_value> --map_locations_server <mandatory_value> --localization_server <mandatory_value>\n";
    doc = doc + std::string("=============================================\n\n");    return doc;
}