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adapt component parser to new xml schema #209

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merged 3 commits into from
Oct 30, 2020
Merged

adapt component parser to new xml schema #209

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a0ed63e
adapt component parser to new xml schema
Karsten1987 Oct 23, 2020
4bcb481
Update hardware_interface/src/component_parser.cpp
Karsten1987 Oct 25, 2020
46d18bf
Fix build & touch up docs
bmagyar Oct 27, 2020
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6 changes: 1 addition & 5 deletions hardware_interface/include/hardware_interface/component_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,13 +54,9 @@ struct ComponentInfo
*/
std::string name;
/**
* \brief type of the component: sensor or actuator.
* \brief type of the component: sensor or joint.
*/
std::string type;
/**
* \brief component's class, which will be dynamically loaded.
*/
std::string class_type;
/**
* \brief name of the command interfaces that can be set, e.g. "position", "velocity", etc.
* Used by joints.
Expand Down
108 changes: 43 additions & 65 deletions hardware_interface/src/component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,15 +27,17 @@ namespace
constexpr const auto kRobotTag = "robot";
constexpr const auto kROS2ControlTag = "ros2_control";
constexpr const auto kHardwareTag = "hardware";
constexpr const auto kClassTypeTag = "classType";
constexpr const auto kClassTypeTag = "plugin";
constexpr const auto kParamTag = "param";
constexpr const auto kJointTag = "joint";
constexpr const auto kSensorTag = "sensor";
constexpr const auto kTransmissionTag = "transmission";
constexpr const auto kCommandInterfaceTypeTag = "commandInterfaceType";
constexpr const auto kStateInterfaceTypeTag = "stateInterfaceType";
constexpr const auto kCommandInterfaceTag = "command_interface";
constexpr const auto kStateInterfaceTag = "state_interface";
constexpr const auto kMinTag = "min";
constexpr const auto kMaxTag = "max";
constexpr const auto kNameAttribute = "name";
constexpr const auto kTypeAttribute = "type";
} // namespace

namespace hardware_interface
Expand Down Expand Up @@ -118,11 +120,11 @@ std::unordered_map<std::string, std::string> parse_parameters_from_xml(

while (params_it) {
// Fill the map with parameters
attr = params_it->FindAttribute("name");
attr = params_it->FindAttribute(kNameAttribute);
if (!attr) {
throw std::runtime_error("no parameter name attribute set in param tag");
}
const std::string parameter_name = params_it->Attribute("name");
const std::string parameter_name = params_it->Attribute(kNameAttribute);
const std::string parameter_value = get_text_for_element(params_it, parameter_name);
parameters[parameter_name] = parameter_value;

Expand All @@ -139,54 +141,36 @@ std::unordered_map<std::string, std::string> parse_parameters_from_xml(
* \return std::vector< std::__cxx11::string > list of interface types
* \throws std::runtime_error if the interfaceType text not set in a tag
*/
std::vector<InterfaceInfo> parse_interfaces_from_xml(
const tinyxml2::XMLElement * interfaces_it, const char * interfaceTag)
hardware_interface::InterfaceInfo parse_interfaces_from_xml(
const tinyxml2::XMLElement * interfaces_it)
{
std::vector<InterfaceInfo> interfaces;

while (interfaces_it) {
hardware_interface::InterfaceInfo interface;

// Joint interfaces have a name attribute
if (std::string(interfaceTag) == "commandInterfaceType") {
const std::string interface_name = get_attribute_value(
interfaces_it, "name",
std::string(interfaceTag));
interface.name = interface_name;

// Optional min/max attributes
std::unordered_map<std::string, std::string> interface_params =
parse_parameters_from_xml(interfaces_it->FirstChildElement(kParamTag));
std::unordered_map<std::string, std::string>::const_iterator interface_param =
interface_params.find(kMinTag);
if (interface_param != interface_params.end()) {
interface.min = interface_param->second;
}
interface_param = interface_params.find(kMaxTag);
if (interface_param != interface_params.end()) {
interface.max = interface_param->second;
}
}
// State interfaces have an element to define the type, not a name attribute
if (std::string(interfaceTag) == "stateInterfaceType") {
const std::string interface_type = get_text_for_element(
interfaces_it,
std::string(interfaceTag) + " type ");
interface.name = interface_type;
}

interfaces.push_back(interface);
interfaces_it = interfaces_it->NextSiblingElement(interfaceTag);
hardware_interface::InterfaceInfo interface;

const std::string interface_name = get_attribute_value(
interfaces_it, kNameAttribute, interfaces_it->Name());
interface.name = interface_name;

// Optional min/max attributes
std::unordered_map<std::string, std::string> interface_params =
parse_parameters_from_xml(interfaces_it->FirstChildElement(kParamTag));
auto interface_param =
interface_params.find(kMinTag);
if (interface_param != interface_params.end()) {
interface.min = interface_param->second;
}
interface_param = interface_params.find(kMaxTag);
if (interface_param != interface_params.end()) {
interface.max = interface_param->second;
}

return interfaces;
return interface;
}

/**
* \brief Search XML snippet from URDF for information about a control component.
*
* \param component_it pointer to the iterator where component info should be found
* \return robot_control_components::ComponentInfo filled with information about component
* \return ComponentInfo filled with information about component
* \throws std::runtime_error if a component attribute or tag is not found
*/
ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it)
Expand All @@ -195,29 +179,23 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it

// Find name, type and class of a component
component.type = component_it->Name();
component.name = get_attribute_value(component_it, "name", component.type);

const auto * classType_it = component_it->FirstChildElement(kClassTypeTag);
if (!classType_it) {
throw std::runtime_error("no class type tag found in " + component.name);
}
component.class_type = get_text_for_element(classType_it, component.name + " " + kClassTypeTag);
component.name = get_attribute_value(component_it, kNameAttribute, component.type);

// Parse commandInterfaceType tags
const auto * command_interfaces_it = component_it->FirstChildElement(kCommandInterfaceTypeTag);
if (command_interfaces_it) {
component.command_interfaces = parse_interfaces_from_xml(
command_interfaces_it, kCommandInterfaceTypeTag);
// Parse all command interfaces
const auto * command_interfaces_it = component_it->FirstChildElement(kCommandInterfaceTag);
while (command_interfaces_it) {
component.command_interfaces.push_back(parse_interfaces_from_xml(command_interfaces_it));
command_interfaces_it = command_interfaces_it->NextSiblingElement(kCommandInterfaceTag);
}

// Parse stateInterfaceType tags
const auto * state_interfaces_it = component_it->FirstChildElement(kStateInterfaceTypeTag);
if (state_interfaces_it) {
component.state_interfaces = parse_interfaces_from_xml(
state_interfaces_it, kStateInterfaceTypeTag);
// Parse state interfaces
const auto * state_interfaces_it = component_it->FirstChildElement(kStateInterfaceTag);
while (state_interfaces_it) {
component.state_interfaces.push_back(parse_interfaces_from_xml(state_interfaces_it));
state_interfaces_it = state_interfaces_it->NextSiblingElement(kStateInterfaceTag);
}

// Parse paramter tags
// Parse parameters
const auto * params_it = component_it->FirstChildElement(kParamTag);
if (params_it) {
component.parameters = parse_parameters_from_xml(params_it);
Expand All @@ -230,14 +208,14 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it
* \brief Parse a control resource from an "ros2_control" tag.
*
* \param ros2_control_it pointer to ros2_control element with informtions about resource.
* \return robot_control_components::ComponentInfo filled with information about the robot
* \return ComponentInfo filled with information about the robot
* \throws std::runtime_error if a attributes or tag are not found
*/
HardwareInfo parse_resource_from_xml(const tinyxml2::XMLElement * ros2_control_it)
{
HardwareInfo hardware;
hardware.name = get_attribute_value(ros2_control_it, "name", kROS2ControlTag);
hardware.type = get_attribute_value(ros2_control_it, "type", kROS2ControlTag);
hardware.name = get_attribute_value(ros2_control_it, kNameAttribute, kROS2ControlTag);
hardware.type = get_attribute_value(ros2_control_it, kTypeAttribute, kROS2ControlTag);

// Parse everything under ros2_control tag
hardware.hardware_class_type = "";
Expand Down
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