Merge pull request robotology#3088 from randaz81/wrappers_param_parser

Network wrappers with params parser

src/devices/fake/fakeFrameGrabber/FakeFrameGrabber.cpp

@@ -222,9 +222,8 @@ bool FakeFrameGrabber::open(yarp::os::Searchable& config)
     m_intrinsic.put("principalPointX",m_principalPointX);
     m_intrinsic.put("principalPointY",m_principalPointY);
 
-    Value val;
-    val.makeList();
-    auto* bb = val.asList();
+    Value* val = Value::makeList();
+    auto* bb = val->asList();
     for (double num : m_rectificationMatrix) { bb->addFloat64(num); }
     m_intrinsic.put("rectificationMatrix",val);
 

src/devices/networkWrappers/JoypadControlClient/CMakeLists.txt

@@ -8,6 +8,7 @@ yarp_prepare_plugin(JoypadControlClient
   EXTRA_CONFIG
     WRAPPER=JoypadControlClient
   DEFAULT ON
+  GENERATE_PARSER
 )
 
 if(NOT SKIP_JoypadControlClient)
@@ -17,6 +18,8 @@ if(NOT SKIP_JoypadControlClient)
     PRIVATE
       JoypadControlClient.cpp
       JoypadControlClient.h
+      JoypadControlClient_ParamsParser.cpp
+      JoypadControlClient_ParamsParser.h
   )
 
   target_sources(yarp_JoypadControlClient PRIVATE $<TARGET_OBJECTS:joypadcontrolnetutils>)

src/devices/networkWrappers/JoypadControlClient/JoypadControlClient.cpp

@@ -94,36 +94,15 @@ bool JoypadControlClient::getJoypadInfo()
 
 bool JoypadControlClient::open(yarp::os::Searchable& config)
 {
-    if(config.check("help"))
-    {
-        yCInfo(JOYPADCONTROLCLIENT) << "Parameter:\n\n" <<
-                   "local  - prefix of the local port\n" <<
-                   "remote - prefix of the port provided to and opened by JoypadControlServer\n";
-    }
-    if(!config.check("local"))
-    {
-        yCError(JOYPADCONTROLCLIENT) << "Unable to 'local' parameter. check configuration file";
-        return false;
-    }
-
-    m_local = config.find("local").asString();
+    if (!parseParams(config)) { return false; }
 
     if(!m_rpcPort.open(m_local + "/rpc:o"))
     {
         yCError(JOYPADCONTROLCLIENT) << "Unable to open rpc port.";
         return false;
     }
-
     yCInfo(JOYPADCONTROLCLIENT) << "rpc port opened. starting the handshake";
 
-    if(!config.check("remote"))
-    {
-        yCError(JOYPADCONTROLCLIENT) << "Unable to find the 'remote' parameter. check configuration file";
-        return false;
-    }
-
-    m_remote = config.find("remote").asString();
-
     if(!yarp::os::NetworkBase::connect(m_local + "/rpc:o", m_remote + "/rpc:i"))
     {
         yCError(JOYPADCONTROLCLIENT) << "Handshake failed. unable to connect to remote port" << m_remote + "/rpc:i";

src/devices/networkWrappers/JoypadControlClient/JoypadControlClient.h

@@ -8,6 +8,7 @@
 #include <yarp/os/PeriodicThread.h>
 #include <vector>
 #include <JoypadControlNetUtils.h>
+#include "JoypadControlClient_ParamsParser.h"
 
 #define DEFAULT_THREAD_PERIOD 10
 
@@ -31,15 +32,12 @@ class JoypadControlWatchdog :
 *
 * \section JoypadControlClient Description of input parameters
 *
-* Parameters accepted in the config argument of the open method:
-* |   Parameter name  | Type   | Units | Default Value | Required  | Description                                  | Notes |
-* |:-----------------:|:------:|:-----:|:-------------:|:---------:|:--------------------------------------------:|:-----:|
-* | local             | string |       |               | yes       | name for the local port to open              |       |
-* | remote            | string |       |               | yes       | name of the remote server port to connect to |       |
-**/
+* Parameters required by this device are shown in class: JoypadControlClient_ParamsParser
+*/
 class JoypadControlClient :
         public yarp::dev::IJoypadEventDriven,
-        public yarp::dev::DeviceDriver
+        public yarp::dev::DeviceDriver,
+        public JoypadControlClient_ParamsParser
 {
 private:
     //---------------utils
@@ -58,8 +56,6 @@ class JoypadControlClient :
     JOYPORT<Vector>       m_stickPort;
     std::vector<size_t>   m_stickDof;
     bool                  m_rpc_only;
-    std::string m_local;
-    std::string m_remote;
 
     JoypadControlWatchdog          watchdog;
     std::vector<JoypadControl::LoopablePort*> m_ports;

src/devices/networkWrappers/JoypadControlClient/JoypadControlClient_ParamsParser.cpp

@@ -0,0 +1,123 @@
+/*
+ * 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: Thu Mar  7 17:59:49 2024
+
+
+#include "JoypadControlClient_ParamsParser.h"
+#include <yarp/os/LogStream.h>
+#include <yarp/os/Value.h>
+
+namespace {
+    YARP_LOG_COMPONENT(JoypadControlClientParamsCOMPONENT, "yarp.device.JoypadControlClient")
+}
+
+
+JoypadControlClient_ParamsParser::JoypadControlClient_ParamsParser()
+{
+}
+
+
+std::vector<std::string> JoypadControlClient_ParamsParser::getListOfParams() const
+{
+    std::vector<std::string> params;
+    params.push_back("local");
+    params.push_back("remote");
+    return params;
+}
+
+
+bool      JoypadControlClient_ParamsParser::parseParams(const yarp::os::Searchable & config)
+{
+    //Check for --help option
+    if (config.check("help"))
+    {
+        yCInfo(JoypadControlClientParamsCOMPONENT) << getDocumentationOfDeviceParams();
+    }
+
+    std::string config_string = config.toString();
+    yarp::os::Property prop_check(config_string.c_str());
+    //Parser of parameter local
+    {
+        if (config.check("local"))
+        {
+            m_local = config.find("local").asString();
+            yCInfo(JoypadControlClientParamsCOMPONENT) << "Parameter 'local' using value:" << m_local;
+        }
+        else
+        {
+            yCError(JoypadControlClientParamsCOMPONENT) << "Mandatory parameter 'local' not found!";
+            yCError(JoypadControlClientParamsCOMPONENT) << "Description of the parameter: Full port name opened by the client device.";
+            return false;
+        }
+        prop_check.unput("local");
+    }
+
+    //Parser of parameter remote
+    {
+        if (config.check("remote"))
+        {
+            m_remote = config.find("remote").asString();
+            yCInfo(JoypadControlClientParamsCOMPONENT) << "Parameter 'remote' using value:" << m_remote;
+        }
+        else
+        {
+            yCError(JoypadControlClientParamsCOMPONENT) << "Mandatory parameter 'remote' not found!";
+            yCError(JoypadControlClientParamsCOMPONENT) << "Description of the parameter: Full port name of the port opened on the server side, to which the client device connects to.";
+            return false;
+        }
+        prop_check.unput("remote");
+    }
+
+    /*
+    //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(JoypadControlClientParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
+                extra_params_found = true;
+            }
+            else
+            {
+                yCWarning(JoypadControlClientParamsCOMPONENT) << "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      JoypadControlClient_ParamsParser::getDocumentationOfDeviceParams() const
+{
+    std::string doc;
+    doc = doc + std::string("\n=============================================\n");
+    doc = doc + std::string("This is the help for device: JoypadControlClient\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 client device.\n");
+    doc = doc + std::string("'remote': Full port name of the port opened on the server side, to which the client device 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 JoypadControlClient --local <mandatory_value> --remote <mandatory_value>\n";
+    doc = doc + std::string("Using only mandatory params:\n");
+    doc = doc + " yarpdev --device JoypadControlClient --local <mandatory_value> --remote <mandatory_value>\n";
+    doc = doc + std::string("=============================================\n\n");    return doc;
+}

src/devices/networkWrappers/JoypadControlClient/JoypadControlClient_ParamsParser.h

@@ -0,0 +1,72 @@
+/*
+ * 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: Thu Mar  7 17:59:49 2024
+
+
+#ifndef JOYPADCONTROLCLIENT_PARAMSPARSER_H
+#define JOYPADCONTROLCLIENT_PARAMSPARSER_H
+
+#include <yarp/os/Searchable.h>
+#include <yarp/dev/IDeviceDriverParams.h>
+#include <string>
+#include <cmath>
+
+/**
+* This class is the parameters parser for class JoypadControlClient.
+*
+* These are the used parameters:
+* | Group name | Parameter name | Type   | Units | Default Value | Required | Description                                                                                   | Notes |
+* |:----------:|:--------------:|:------:|:-----:|:-------------:|:--------:|:---------------------------------------------------------------------------------------------:|:-----:|
+* | -          | local          | string | -     | -             | 1        | Full port name opened by the client device.                                                   | -     |
+* | -          | remote         | string | -     | -             | 1        | Full port name of the port opened on the server side, to which the client device connects to. | -     |
+*
+* The device can be launched by yarpdev using one of the following examples (with and without all optional parameters):
+* \code{.unparsed}
+* yarpdev --device JoypadControlClient --local <mandatory_value> --remote <mandatory_value>
+* \endcode
+*
+* \code{.unparsed}
+* yarpdev --device JoypadControlClient --local <mandatory_value> --remote <mandatory_value>
+* \endcode
+*
+*/
+
+class JoypadControlClient_ParamsParser : public yarp::dev::IDeviceDriverParams
+{
+public:
+    JoypadControlClient_ParamsParser();
+    ~JoypadControlClient_ParamsParser() override = default;
+
+public:
+    const std::string m_device_classname = {"JoypadControlClient"};
+    const std::string m_device_name = {"JoypadControlClient"};
+    bool m_parser_is_strict = false;
+    struct parser_version_type
+    {
+         int major = 1;
+         int minor = 0;
+    };
+    const parser_version_type m_parser_version = {};
+
+    const std::string m_local_defaultValue = {""};
+    const std::string m_remote_defaultValue = {""};
+
+    std::string m_local = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
+    std::string m_remote = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
+
+    bool          parseParams(const yarp::os::Searchable & config) override;
+    std::string   getDeviceClassName() const override { return m_device_classname; }
+    std::string   getDeviceName() const override { return m_device_name; }
+    std::string   getDocumentationOfDeviceParams() const override;
+    std::vector<std::string> getListOfParams() const override;
+};
+
+#endif

src/devices/networkWrappers/JoypadControlClient/JoypadControlClient_params.md

@@ -0,0 +1,2 @@
+ * |    | local          | string  | -   |   -           | Yes          | Full port name opened by the client device.                             |       |
+ * |    | remote         | string  | -   |   -           | Yes          | Full port name of the port opened on the server side, to which the client device connects to.   |     |

src/devices/networkWrappers/JoypadControlServer/CMakeLists.txt

@@ -8,6 +8,7 @@ yarp_prepare_plugin(JoypadControlServer
   EXTRA_CONFIG
     WRAPPER=JoypadControlServer
   DEFAULT ON
+  GENERATE_PARSER
 )
 
 if(NOT SKIP_JoypadControlServer)
@@ -17,6 +18,8 @@ if(NOT SKIP_JoypadControlServer)
     PRIVATE
       JoypadControlServer.cpp
       JoypadControlServer.h
+      JoypadControlServer_ParamsParser.cpp
+      JoypadControlServer_ParamsParser.h
   )
 
   target_sources(yarp_JoypadControlServer PRIVATE $<TARGET_OBJECTS:joypadcontrolnetutils>)