RgbdSensor_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 "RgbdSensor_nws_ros2_ParamsParser.h"
#include <yarp/os/LogStream.h>
#include <yarp/os/Value.h>
 
namespace {
    YARP_LOG_COMPONENT(RgbdSensor_nws_ros2ParamsCOMPONENT, "yarp.device.RgbdSensor_nws_ros2")
}
 
 
RgbdSensor_nws_ros2_ParamsParser::RgbdSensor_nws_ros2_ParamsParser()
{
}
 
 
std::vector<std::string> RgbdSensor_nws_ros2_ParamsParser::getListOfParams() const
{
    std::vector<std::string> params;
    params.push_back("period");
    params.push_back("node_name");
    params.push_back("color_topic_name");
    params.push_back("depth_topic_name");
    params.push_back("force_info_synch");
    params.push_back("depth_frame_id");
    params.push_back("color_frame_id");
    return params;
}
 
 
bool RgbdSensor_nws_ros2_ParamsParser::getParamValue(const std::string& paramName, std::string& paramValue) const
{
    if (paramName =="period")
    {
        paramValue = std::to_string(m_period);
        return true;
    }
    if (paramName =="node_name")
    {
        paramValue = m_node_name;
        return true;
    }
    if (paramName =="color_topic_name")
    {
        paramValue = m_color_topic_name;
        return true;
    }
    if (paramName =="depth_topic_name")
    {
        paramValue = m_depth_topic_name;
        return true;
    }
    if (paramName =="force_info_synch")
    {
        paramValue = std::to_string(m_force_info_synch);
        return true;
    }
    if (paramName =="depth_frame_id")
    {
        paramValue = m_depth_frame_id;
        return true;
    }
    if (paramName =="color_frame_id")
    {
        paramValue = m_color_frame_id;
        return true;
    }
 
    yError() <<"parameter '" << paramName << "' was not found";
    return false;
 
}
 
 
std::string RgbdSensor_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      RgbdSensor_nws_ros2_ParamsParser::parseParams(const yarp::os::Searchable & config)
{
    //Check for --help option
    if (config.check("help"))
    {
        yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << getDocumentationOfDeviceParams();
    }
 
    m_provided_configuration = config.toString();
    yarp::os::Property prop_check(m_provided_configuration.c_str());
    //Parser of parameter period
    {
        if (config.check("period"))
        {
            m_period = config.find("period").asFloat64();
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'period' using value:" << m_period;
        }
        else
        {
            yCInfo(RgbdSensor_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(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'node_name' using value:" << m_node_name;
        }
        else
        {
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'node_name' not found!";
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: name of the ros2 node";
            return false;
        }
        prop_check.unput("node_name");
    }
 
    //Parser of parameter color_topic_name
    {
        if (config.check("color_topic_name"))
        {
            m_color_topic_name = config.find("color_topic_name").asString();
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'color_topic_name' using value:" << m_color_topic_name;
        }
        else
        {
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'color_topic_name' not found!";
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: ros rgb topic (it's also the base name for the rgb camera_info topic)";
            return false;
        }
        prop_check.unput("color_topic_name");
    }
 
    //Parser of parameter depth_topic_name
    {
        if (config.check("depth_topic_name"))
        {
            m_depth_topic_name = config.find("depth_topic_name").asString();
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'depth_topic_name' using value:" << m_depth_topic_name;
        }
        else
        {
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'depth_topic_name' not found!";
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: ros depth topic (it's also the base name for the depth camera_info topic)";
            return false;
        }
        prop_check.unput("depth_topic_name");
    }
 
    //Parser of parameter force_info_synch
    {
        if (config.check("force_info_synch"))
        {
            m_force_info_synch = config.find("force_info_synch").asInt64();
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'force_info_synch' using value:" << m_force_info_synch;
        }
        else
        {
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'force_info_synch' using DEFAULT value:" << m_force_info_synch;
        }
        prop_check.unput("force_info_synch");
    }
 
    //Parser of parameter depth_frame_id
    {
        if (config.check("depth_frame_id"))
        {
            m_depth_frame_id = config.find("depth_frame_id").asString();
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'depth_frame_id' using value:" << m_depth_frame_id;
        }
        else
        {
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'depth_frame_id' not found!";
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The depth image frame";
            return false;
        }
        prop_check.unput("depth_frame_id");
    }
 
    //Parser of parameter color_frame_id
    {
        if (config.check("color_frame_id"))
        {
            m_color_frame_id = config.find("color_frame_id").asString();
            yCInfo(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Parameter 'color_frame_id' using value:" << m_color_frame_id;
        }
        else
        {
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Mandatory parameter 'color_frame_id' not found!";
            yCError(RgbdSensor_nws_ros2ParamsCOMPONENT) << "Description of the parameter: The color image frame";
            return false;
        }
        prop_check.unput("color_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(RgbdSensor_nws_ros2ParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
                extra_params_found = true;
            }
            else
            {
                yCWarning(RgbdSensor_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      RgbdSensor_nws_ros2_ParamsParser::getDocumentationOfDeviceParams() const
{
    std::string doc;
    doc = doc + std::string("\n=============================================\n");
    doc = doc + std::string("This is the help for device: RgbdSensor_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("'color_topic_name': ros rgb topic (it's also the base name for the rgb camera_info topic)\n");
    doc = doc + std::string("'depth_topic_name': ros depth topic (it's also the base name for the depth camera_info topic)\n");
    doc = doc + std::string("'force_info_synch': if 1, it forces synching images time stamp with and cameras time stamp\n");
    doc = doc + std::string("'depth_frame_id': The depth image frame\n");
    doc = doc + std::string("'color_frame_id': The color image frame\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 rgbdSensor_nws_ros2 --period 0.02 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> --force_info_synch 0 --depth_frame_id <mandatory_value> --color_frame_id <mandatory_value>\n";
    doc = doc + std::string("Using only mandatory params:\n");
    doc = doc + " yarpdev --device rgbdSensor_nws_ros2 --node_name <mandatory_value> --color_topic_name <mandatory_value> --depth_topic_name <mandatory_value> --depth_frame_id <mandatory_value> --color_frame_id <mandatory_value>\n";
    doc = doc + std::string("=============================================\n\n");    return doc;
}