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FrameTransform: added missing param parsers #3235

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3 changes: 3 additions & 0 deletions src/devices/networkWrappers/frameTransformGet_nwc_yarp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ yarp_prepare_plugin(frameTransformGet_nwc_yarp
EXTRA_CONFIG
WRAPPER=frameTransformGet_nws_yarp
DEFAULT ON
GENERATE_PARSER
)

if(NOT SKIP_frameTransformGet_nwc_yarp)
Expand All @@ -19,6 +20,8 @@ if(NOT SKIP_frameTransformGet_nwc_yarp)
PRIVATE
FrameTransformGet_nwc_yarp.cpp
FrameTransformGet_nwc_yarp.h
FrameTransformGet_nwc_yarp_ParamsParser.cpp
FrameTransformGet_nwc_yarp_ParamsParser.h
)

target_sources(yarp_frameTransformGet_nwc_yarp PRIVATE $<TARGET_OBJECTS:frameTransformStorageMsgs>)
Expand Down
16 changes: 5 additions & 11 deletions src/devices/networkWrappers/frameTransformGet_nwc_yarp/FrameTransformGet_nwc_yarp.cpp
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Expand Up @@ -15,10 +15,8 @@ YARP_LOG_COMPONENT(FRAMETRANSFORMGETNWCYARP, "yarp.devices.FrameTransformGet_nwc

bool FrameTransformGet_nwc_yarp::open(yarp::os::Searchable& config)
{
if (!yarp::os::NetworkBase::checkNetwork()) {
yCError(FRAMETRANSFORMGETNWCYARP,"Error! YARP Network is not initialized");
return false;
}
if (!parseParams(config)) { return false; }

std::string prefix;
//checking default config params
bool default_config = true;
Expand Down Expand Up @@ -71,11 +69,7 @@ bool FrameTransformGet_nwc_yarp::open(yarp::os::Searchable& config)
}

//checking streaming_enabled param
if(config.check("streaming_enabled")) {
m_streaming_port_enabled = config.find("streaming_enabled").asString() == "true";
}

if (m_streaming_port_enabled)
if (m_streaming_enabled)
{
yCInfo(FRAMETRANSFORMGETNWCYARP) << "Receiving transforms from Yarp port enabled";
if (config.check("input_streaming_port_prefix")){
Expand Down Expand Up @@ -128,7 +122,7 @@ bool FrameTransformGet_nwc_yarp::open(yarp::os::Searchable& config)

bool FrameTransformGet_nwc_yarp::close()
{
if (m_streaming_port_enabled)
if (m_streaming_enabled)
{
m_dataReader->close();
}
Expand All @@ -145,7 +139,7 @@ bool FrameTransformGet_nwc_yarp::close()

ReturnValue FrameTransformGet_nwc_yarp::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
{
if (!m_streaming_port_enabled)
if (!m_streaming_enabled)
{
return_getAllTransforms retrievedFromRPC = m_frameTransformStorageGetRPC.getTransformsRPC();
if(!retrievedFromRPC.retvalue)
Expand Down
19 changes: 5 additions & 14 deletions src/devices/networkWrappers/frameTransformGet_nwc_yarp/FrameTransformGet_nwc_yarp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameTransformStorage.h>


#include <FrameTransformStorageGetRPC.h>
#include "FrameTransformGet_nwc_yarp_ParamsParser.h"

/**
* @ingroup dev_impl_nwc_yarp
Expand All @@ -25,17 +25,8 @@
* When it a method of the interface is called, the request is forwarded on a RPC port (which uses the thrift FrameTransformStorageGetRPC interface) and it returns all the transforms received
* from the port to the caller.
* For further information see \subpage FrameTransform.

* Parameters required by this device are:
* | Parameter name | SubParameter | Type | Units | Default Value | Required | Description |
* |:----------------------------:|:-------------|:-------:|:------:|:--------------:|:------- -:|:----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------:|
* | default-client | - | bool | - | true | No | tells whether or not the nwc is instantiated by the frameTransformClient device. If true, "/frameTransformClient" will appended to the port name prefix |
* | default-server | - | bool | - | true | No | tells whether or not the nws is instantiated by the frameTransformServer device. If true, "/frameTransformServer/frameTransformGet_nws_yarp" will appended to the port name prefix |
* | nwc_thrift_port_prefix | - | string | - | "" | No | a prefix for the nwc thrift rpc port name |
* | nws_thrift_port_prefix | - | string | - | "" | No | a prefix for the nws thrift rpc port name |
* | input_streaming_port_prefix | - | string | - | - | No | a prefix for the input streaming port name (if the port is enabled) |
* | output_streaming_port_prefix | - | string | - | - | No | a prefix for the output streaming port name (if the port is enabled) |
* | streaming_enabled | - | bool | - | false | No | if enabled, tfs are received from the streaming port instead of using RPCs |
*
* Parameters required by this device are shown in class: FrameTransformGet_nwc_yarpParamsParser
*
* \section FrameTransformGet_nwc_yarp_port_example Port names examples
* Here follow some examples of port names obtained with different parameters configurations
Expand Down Expand Up @@ -98,7 +89,8 @@
*/
class FrameTransformGet_nwc_yarp:
public yarp::dev::DeviceDriver,
public yarp::dev::IFrameTransformStorageGet
public yarp::dev::IFrameTransformStorageGet,
public FrameTransformGet_nwc_yarp_ParamsParser
{
class DataReader : public yarp::os::BufferedPort<return_getAllTransforms>
{
Expand Down Expand Up @@ -135,7 +127,6 @@ class FrameTransformGet_nwc_yarp:
std::string m_defaultServerPrefix{"/frameTransformServer/frameTransformGet_nws_yarp"};

//streaming port
bool m_streaming_port_enabled = false;
std::string m_streaming_input_port_name;
std::string m_streaming_output_port_name;
DataReader* m_dataReader =nullptr;
Expand Down
256 changes: 256 additions & 0 deletions ...es/networkWrappers/frameTransformGet_nwc_yarp/FrameTransformGet_nwc_yarp_ParamsParser.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,256 @@
/*
* 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 10:28:39 2025


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

namespace {
YARP_LOG_COMPONENT(FrameTransformGet_nwc_yarpParamsCOMPONENT, "yarp.device.FrameTransformGet_nwc_yarp")
}


FrameTransformGet_nwc_yarp_ParamsParser::FrameTransformGet_nwc_yarp_ParamsParser()
{
}


std::vector<std::string> FrameTransformGet_nwc_yarp_ParamsParser::getListOfParams() const
{
std::vector<std::string> params;
params.push_back("streaming_enabled");
params.push_back("output_streaming_port_prefix");
params.push_back("input_streaming_port_prefix");
params.push_back("nws_thrift_port_prefix");
params.push_back("nwc_thrift_port_prefix");
params.push_back("default_server");
params.push_back("default_client");
return params;
}


bool FrameTransformGet_nwc_yarp_ParamsParser::getParamValue(const std::string& paramName, std::string& paramValue) const
{
if (paramName =="streaming_enabled")
{
if (m_streaming_enabled==true) paramValue = "true";
else paramValue = "false";
return true;
}
if (paramName =="output_streaming_port_prefix")
{
if (m_output_streaming_port_prefix==true) paramValue = "true";
else paramValue = "false";
return true;
}
if (paramName =="input_streaming_port_prefix")
{
paramValue = m_input_streaming_port_prefix;
return true;
}
if (paramName =="nws_thrift_port_prefix")
{
paramValue = m_nws_thrift_port_prefix;
return true;
}
if (paramName =="nwc_thrift_port_prefix")
{
paramValue = m_nwc_thrift_port_prefix;
return true;
}
if (paramName =="default_server")
{
paramValue = m_default_server;
return true;
}
if (paramName =="default_client")
{
if (m_default_client==true) paramValue = "true";
else paramValue = "false";
return true;
}

yError() <<"parameter '" << paramName << "' was not found";
return false;

}


std::string FrameTransformGet_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 FrameTransformGet_nwc_yarp_ParamsParser::parseParams(const yarp::os::Searchable & config)
{
//Check for --help option
if (config.check("help"))
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << getDocumentationOfDeviceParams();
}

m_provided_configuration = config.toString();
yarp::os::Property prop_check(m_provided_configuration.c_str());
//Parser of parameter streaming_enabled
{
if (config.check("streaming_enabled"))
{
m_streaming_enabled = config.find("streaming_enabled").asBool();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'streaming_enabled' using value:" << m_streaming_enabled;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'streaming_enabled' using DEFAULT value:" << m_streaming_enabled;
}
prop_check.unput("streaming_enabled");
}

//Parser of parameter output_streaming_port_prefix
{
if (config.check("output_streaming_port_prefix"))
{
m_output_streaming_port_prefix = config.find("output_streaming_port_prefix").asBool();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'output_streaming_port_prefix' using value:" << m_output_streaming_port_prefix;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'output_streaming_port_prefix' using DEFAULT value:" << m_output_streaming_port_prefix;
}
prop_check.unput("output_streaming_port_prefix");
}

//Parser of parameter input_streaming_port_prefix
{
if (config.check("input_streaming_port_prefix"))
{
m_input_streaming_port_prefix = config.find("input_streaming_port_prefix").asString();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'input_streaming_port_prefix' using value:" << m_input_streaming_port_prefix;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'input_streaming_port_prefix' using DEFAULT value:" << m_input_streaming_port_prefix;
}
prop_check.unput("input_streaming_port_prefix");
}

//Parser of parameter nws_thrift_port_prefix
{
if (config.check("nws_thrift_port_prefix"))
{
m_nws_thrift_port_prefix = config.find("nws_thrift_port_prefix").asString();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'nws_thrift_port_prefix' using value:" << m_nws_thrift_port_prefix;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'nws_thrift_port_prefix' using DEFAULT value:" << m_nws_thrift_port_prefix;
}
prop_check.unput("nws_thrift_port_prefix");
}

//Parser of parameter nwc_thrift_port_prefix
{
if (config.check("nwc_thrift_port_prefix"))
{
m_nwc_thrift_port_prefix = config.find("nwc_thrift_port_prefix").asString();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'nwc_thrift_port_prefix' using value:" << m_nwc_thrift_port_prefix;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'nwc_thrift_port_prefix' using DEFAULT value:" << m_nwc_thrift_port_prefix;
}
prop_check.unput("nwc_thrift_port_prefix");
}

//Parser of parameter default_server
{
if (config.check("default_server"))
{
m_default_server = config.find("default_server").asString();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'default_server' using value:" << m_default_server;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'default_server' using DEFAULT value:" << m_default_server;
}
prop_check.unput("default_server");
}

//Parser of parameter default_client
{
if (config.check("default_client"))
{
m_default_client = config.find("default_client").asBool();
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'default_client' using value:" << m_default_client;
}
else
{
yCInfo(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "Parameter 'default_client' using DEFAULT value:" << m_default_client;
}
prop_check.unput("default_client");
}

/*
//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(FrameTransformGet_nwc_yarpParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
extra_params_found = true;
}
else
{
yCWarning(FrameTransformGet_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 FrameTransformGet_nwc_yarp_ParamsParser::getDocumentationOfDeviceParams() const
{
std::string doc;
doc = doc + std::string("\n=============================================\n");
doc = doc + std::string("This is the help for device: FrameTransformGet_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("'streaming_enabled': tells whether or not the nwc is instantiated by the frameTransformClient device. If true, \"/frameTransformClient\" will appended to the port name prefix\n");
doc = doc + std::string("'output_streaming_port_prefix': tells whether or not the nws is instantiated by the frameTransformServer device. If true, \"/frameTransformServer/frameTransformGet_nws_yarp\" will appended to the port name prefix\n");
doc = doc + std::string("'input_streaming_port_prefix': a prefix for the nwc thrift rpc port name\n");
doc = doc + std::string("'nws_thrift_port_prefix': a prefix for the nws thrift rpc port name\n");
doc = doc + std::string("'nwc_thrift_port_prefix': a prefix for the input streaming port name (if the port is enabled)\n");
doc = doc + std::string("'default_server': a prefix for the output streaming port name (if the port is enabled)\n");
doc = doc + std::string("'default_client': if enabled, tfs are received from the streaming port instead of using RPCs\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 frameTransformGet_nwc_yarp --streaming_enabled true --output_streaming_port_prefix true --input_streaming_port_prefix <optional_value> --nws_thrift_port_prefix <optional_value> --nwc_thrift_port_prefix <optional_value> --default_server <optional_value> --default_client false\n";
doc = doc + std::string("Using only mandatory params:\n");
doc = doc + " yarpdev --device frameTransformGet_nwc_yarp\n";
doc = doc + std::string("=============================================\n\n"); return doc;
}
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