Map2D_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
 */
 
 
// 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: Mon May 26 22:00:40 2025
 
 
#include "Map2D_nws_ros2_ParamsParser.h"
#include <yarp/os/LogStream.h>
#include <yarp/os/Value.h>
 
namespace {
    YARP_LOG_COMPONENT(Map2D_nws_ros2ParamsCOMPONENT, "yarp.device.Map2D_nws_ros2")
}
 
 
Map2D_nws_ros2_ParamsParser::Map2D_nws_ros2_ParamsParser()
{
}
 
 
std::vector<std::string> Map2D_nws_ros2_ParamsParser::getListOfParams() const
{
    std::vector<std::string> params;
    params.push_back("name");
    params.push_back("getmap");
    params.push_back("getmapbyname");
    params.push_back("roscmdparser");
    params.push_back("markers_pub");
    params.push_back("node_name");
    return params;
}
 
 
bool Map2D_nws_ros2_ParamsParser::getParamValue(const std::string& paramName, std::string& paramValue) const
{
    if (paramName =="name")
    {
        paramValue = m_name;
        return true;
    }
    if (paramName =="getmap")
    {
        paramValue = m_getmap;
        return true;
    }
    if (paramName =="getmapbyname")
    {
        paramValue = m_getmapbyname;
        return true;
    }
    if (paramName =="roscmdparser")
    {
        paramValue = m_roscmdparser;
        return true;
    }
    if (paramName =="markers_pub")
    {
        paramValue = m_markers_pub;
        return true;
    }
    if (paramName =="node_name")
    {
        paramValue = m_node_name;
        return true;
    }
 
    yError() <<"parameter '" << paramName << "' was not found";
    return false;
 
}
 
 
std::string Map2D_nws_ros2_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      Map2D_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config)
{
    //Check for --help option
    if (config.check("help"))
    {
        yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << getDocumentationOfDeviceParams();
    }
 
    m_provided_configuration = config.toString();
    yarp::os::Property prop_check(m_provided_configuration.c_str());
    //Parser of parameter name
    {
        if (config.check("name"))
        {
            m_name = config.find("name").asString();
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'name' using value:" << m_name;
        }
        else
        {
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'name' using DEFAULT value:" << m_name;
        }
        prop_check.unput("name");
    }
 
    //Parser of parameter getmap
    {
        if (config.check("getmap"))
        {
            m_getmap = config.find("getmap").asString();
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmap' using value:" << m_getmap;
        }
        else
        {
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmap' using DEFAULT value:" << m_getmap;
        }
        prop_check.unput("getmap");
    }
 
    //Parser of parameter getmapbyname
    {
        if (config.check("getmapbyname"))
        {
            m_getmapbyname = config.find("getmapbyname").asString();
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmapbyname' using value:" << m_getmapbyname;
        }
        else
        {
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'getmapbyname' using DEFAULT value:" << m_getmapbyname;
        }
        prop_check.unput("getmapbyname");
    }
 
    //Parser of parameter roscmdparser
    {
        if (config.check("roscmdparser"))
        {
            m_roscmdparser = config.find("roscmdparser").asString();
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'roscmdparser' using value:" << m_roscmdparser;
        }
        else
        {
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'roscmdparser' using DEFAULT value:" << m_roscmdparser;
        }
        prop_check.unput("roscmdparser");
    }
 
    //Parser of parameter markers_pub
    {
        if (config.check("markers_pub"))
        {
            m_markers_pub = config.find("markers_pub").asString();
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'markers_pub' using value:" << m_markers_pub;
        }
        else
        {
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'markers_pub' using DEFAULT value:" << m_markers_pub;
        }
        prop_check.unput("markers_pub");
    }
 
    //Parser of parameter node_name
    {
        if (config.check("node_name"))
        {
            m_node_name = config.find("node_name").asString();
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name;
        }
        else
        {
            yCInfo(Map2D_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using DEFAULT value:" << m_node_name;
        }
        prop_check.unput("node_name");
    }
 
    /*
    //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(Map2D_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
                extra_params_found = true;
            }
            else
            {
                yCWarning(Map2D_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      Map2D_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const
{
    std::string doc;
    doc = doc + std::string("\n=============================================\n");
    doc = doc + std::string("This is the help for device: Map2D_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("'name': Device name prefix\n");
    doc = doc + std::string("'getmap': The \"GetMap\" ROS service name\n");
    doc = doc + std::string("'getmapbyname': The \"GetMapByName\" ROS2  custom service name\n");
    doc = doc + std::string("'roscmdparser': The \"BasicTypes\" ROS service name\n");
    doc = doc + std::string("'markers_pub': The visual markers array publisher name\n");
    doc = doc + std::string("'node_name': The ROS2 node name. If absent, the device name will be used\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 map2D_nws_ros2 --name map2D_nws_ros2 --getmap getMap --getmapbyname getMapByName --roscmdparser rosCmdParser --markers_pub locationServerMarkers --node_name map2D_nws_ros2\n";
    doc = doc + std::string("Using only mandatory params:\n");
    doc = doc + " yarpdev --device map2D_nws_ros2\n";
    doc = doc + std::string("=============================================\n\n");    return doc;
}