added ParamParser to DeviceTemplate

CMakeLists.txt

@@ -10,7 +10,7 @@ include(FeatureSummary)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-find_package(YCM 0.15.1 REQUIRED)
+find_package(YCM 0.15.3 REQUIRED)
 
 include(GNUInstallDirs)
 
@@ -32,8 +32,8 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "yarp-devices-ros2 is always built with dynamic plugins")
 option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
 
-find_package(YARP 3.8.0 COMPONENTS os sig dev rosmsg serversql OPTIONAL_COMPONENTS math REQUIRED)
-find_package(YARP 3.8.0 COMPONENTS catch2 dev_tests QUIET)
+find_package(YARP 3.10.0 COMPONENTS os sig dev rosmsg serversql OPTIONAL_COMPONENTS math REQUIRED)
+find_package(YARP 3.10.0 COMPONENTS catch2 dev_tests QUIET)
 
 if(YARP_catch2_FOUND AND YARP_dev_tests_FOUND)
   option(YARP_COMPILE_TESTS "Enable YARP tests" OFF)

src/devices/CMakeLists.txt

@@ -1,4 +1,7 @@
 # SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
+#message (Looking for CMakeFiles into this folder: ${YARP_MODULE_DIR})
+include(${YARP_MODULE_DIR}/YarpDeviceParamsParserGenerator.cmake)
+
 add_subdirectory(deviceTemplate)

src/devices/deviceTemplate/CMakeLists.txt

@@ -10,11 +10,14 @@ yarp_prepare_plugin(deviceTemplate
 
 if(NOT SKIP_deviceTemplate)
   yarp_add_plugin(yarp_deviceTemplate)
+  generateDeviceParamsParser(DeviceTemplate)
 
   target_sources(yarp_deviceTemplate
     PRIVATE
       DeviceTemplate.cpp
       DeviceTemplate.h
+      DeviceTemplate_ParamsParser.cpp
+      DeviceTemplate_ParamsParser.h
   )
 
   target_link_libraries(yarp_deviceTemplate

src/devices/deviceTemplate/DeviceTemplate.cpp

@@ -18,7 +18,7 @@ using namespace yarp::os;
 using namespace yarp::dev;
 
 
-YARP_LOG_COMPONENT(DEVICETEMPLATE, "yarp.deviceTemaplate", yarp::os::Log::TraceType);
+YARP_LOG_COMPONENT(DEVICETEMPLATE, "yarp.deviceTemplate", yarp::os::Log::TraceType);
 
 
 DeviceTemplate::DeviceTemplate()
@@ -28,12 +28,14 @@ DeviceTemplate::DeviceTemplate()
 
 bool DeviceTemplate::open(yarp::os::Searchable &config)
 {
-    yCError(DEVICETEMPLATE) << "Open";
+    if (!parseParams(config))  { return false; }
+
+    yCInfo(DEVICETEMPLATE) << "Open";
     return true;
 }
 
 bool DeviceTemplate::close()
 {
-    yCError(DEVICETEMPLATE) << "Close";
+    yCInfo(DEVICETEMPLATE) << "Close";
     return true;
 }

src/devices/deviceTemplate/DeviceTemplate.h

@@ -7,9 +7,11 @@
 #define YARP_DEVICETEMPLATE_H
 
 #include <yarp/dev/DeviceDriver.h>
+#include "DeviceTemplate_ParamsParser.h"
 
 class DeviceTemplate :
-        public yarp::dev::DeviceDriver
+        public yarp::dev::DeviceDriver,
+        public DeviceTemplate_ParamsParser
 {
 public:
     DeviceTemplate();

src/devices/deviceTemplate/DeviceTemplate_ParamsParser.cpp

@@ -0,0 +1,110 @@
+/*
+ * 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 Jan 25 14:38:34 2024
+
+
+#include "DeviceTemplate_ParamsParser.h"
+#include <yarp/os/LogStream.h>
+#include <yarp/os/Value.h>
+
+namespace {
+    YARP_LOG_COMPONENT(DeviceTemplateParamsCOMPONENT, "yarp.device.DeviceTemplate")
+}
+
+
+std::vector<std::string> DeviceTemplate_ParamsParser::getListOfParams() const
+{
+    std::vector<std::string> params;
+    params.push_back("dummy_group::dummy_param1");
+    params.push_back("dummy_param2");
+    return params;
+}
+
+
+bool      DeviceTemplate_ParamsParser::parseParams(const yarp::os::Searchable & config)
+{
+    std::string config_string = config.toString();
+    yarp::os::Property prop_check(config_string.c_str());
+    //Parser of parameter dummy_group::dummy_param1
+    {
+        yarp::os::Bottle sectionp;
+        sectionp = config.findGroup("dummy_group");
+        if (sectionp.check("dummy_param1"))
+        {
+            m_dummy_group_dummy_param1 = sectionp.find("dummy_param1").asString();
+            yCInfo(DeviceTemplateParamsCOMPONENT) << "Parameter 'dummy_group::dummy_param1' using value:" << m_dummy_group_dummy_param1;
+        }
+        else
+        {
+            yCError(DeviceTemplateParamsCOMPONENT) << "Mandatory parameter 'dummy_group::dummy_param1' not found!";
+            yCError(DeviceTemplateParamsCOMPONENT) << "Description of the parameter: This is the description of dummy_param1";
+            return false;
+        }
+        prop_check.unput("dummy_group::dummy_param1");
+    }
+
+    //Parser of parameter dummy_param2
+    {
+        if (config.check("dummy_param2"))
+        {
+            m_dummy_param2 = config.find("dummy_param2").asFloat64();
+            yCInfo(DeviceTemplateParamsCOMPONENT) << "Parameter 'dummy_param2' using value:" << m_dummy_param2;
+        }
+        else
+        {
+            yCInfo(DeviceTemplateParamsCOMPONENT) << "Parameter 'dummy_param2' using DEFAULT value:" << m_dummy_param2;
+        }
+        prop_check.unput("dummy_param2");
+    }
+
+    /*
+    //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(DeviceTemplateParamsCOMPONENT) << "User asking for parameter: "<<it->name <<" which is unknown to this parser!";
+                extra_params_found = true;
+            }
+            else
+            {
+                yCWarning(DeviceTemplateParamsCOMPONENT) << "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      DeviceTemplate_ParamsParser::getDocumentationOfDeviceParams() const
+{
+    std::string doc;
+    doc = doc + std::string("'dummy_group::dummy_param1': This is the description of dummy_param1\n");
+    doc = doc + std::string("'dummy_param2': This is the description of dummy_param2\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 DeviceTemplate --dummy_group::dummy_param1 dummy_default_value --dummy_param2 9.81\n";
+    doc = doc + std::string("Using only mandatory params:\n");
+    doc = doc + " yarpdev --device DeviceTemplate --dummy_group::dummy_param1 dummy_default_value\n";
+    doc = doc + std::string("\n");
+    return doc;
+}

src/devices/deviceTemplate/DeviceTemplate_ParamsParser.h

@@ -0,0 +1,59 @@
+/*
+ * 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 Jan 25 14:38:34 2024
+
+
+#ifndef DEVICETEMPLATE_PARAMSPARSER_H
+#define DEVICETEMPLATE_PARAMSPARSER_H
+
+#include <yarp/os/Searchable.h>
+#include <yarp/dev/IDeviceDriverParams.h>
+#include <string>
+
+/**
+* This class is the parameters parser for class DeviceTemplate.
+*
+* These are the used parameters:
+* | Group name  | Parameter name | Type   | Units | Default Value       | Required | Description                             | Notes                                     |
+* |:-----------:|:--------------:|:------:|:-----:|:-------------------:|:--------:|:---------------------------------------:|:-----------------------------------------:|
+* | dummy_group | dummy_param1   | string | -     | dummy_default_value | 1        | This is the description of dummy_param1 | Here are additional notes                 |
+* | -           | dummy_param2   | double | m/s^2 | 9.81                | 0        | This is the description of dummy_param2 | The default value is the gravity constant |
+*
+* The device can be launched by yarpdev using one of the following examples:
+* \code{.unparsed}
+* yarpdev --device DeviceTemplate --dummy_group::dummy_param1 dummy_default_value --dummy_param2 9.81
+* \endcode
+*
+* \code{.unparsed}
+* yarpdev --device DeviceTemplate --dummy_group::dummy_param1 dummy_default_value
+* \endcode
+*
+*/
+
+class DeviceTemplate_ParamsParser : public yarp::dev::IDeviceDriverParams
+{
+public:
+    ~DeviceTemplate_ParamsParser() override = default;
+
+public:
+    const std::string m_device_type = {"DeviceTemplate"};
+    bool m_parser_is_strict = false;
+    std::string m_dummy_group_dummy_param1 = {"dummy_default_value"};
+    double m_dummy_param2 = {9.81};
+
+    bool          parseParams(const yarp::os::Searchable & config) override;
+    std::string   getDeviceType() const override { return m_device_type; }
+    std::string   getDocumentationOfDeviceParams() const override;
+    std::vector<std::string> getListOfParams() const override;
+};
+
+#endif

src/devices/deviceTemplate/DeviceTemplate_params.md

@@ -0,0 +1,2 @@
+| dummy_group | dummy_param1 | string |   -   | dummy_default_value | Yes  | This is the description of dummy_param1 | Here are additional notes |
+| -           | dummy_param2 | double | m/s^2 | 9.81                | No   | This is the description of dummy_param2 | The default value is the gravity constant |