-
Notifications
You must be signed in to change notification settings - Fork 307
/
transmission_parser.cpp
212 lines (183 loc) · 6.38 KB
/
transmission_parser.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Open Source Robotics Foundation
* nor the names of its contributors may be
* used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include <transmission_interface/transmission_parser.h>
namespace transmission_interface
{
bool TransmissionParser::parse(const std::string& urdf, std::vector<TransmissionInfo>& transmissions)
{
// initialize TiXmlDocument doc with a string
TiXmlDocument doc;
if (!doc.Parse(urdf.c_str()) && doc.Error())
{
ROS_ERROR("Could not load the gazebo_ros_control plugin's"
" configuration file: %s\n", urdf.c_str());
return false;
}
// Find joints in transmission tags
TiXmlElement *root = doc.RootElement();
// Constructs the transmissions by parsing custom xml.
TiXmlElement *trans_it = NULL;
for (trans_it = root->FirstChildElement("transmission"); trans_it;
trans_it = trans_it->NextSiblingElement("transmission"))
{
transmission_interface::TransmissionInfo transmission;
// Transmission name
if(trans_it->Attribute("name"))
{
transmission.name_ = trans_it->Attribute("name");
}
else
{
ROS_ERROR_STREAM_NAMED("parser","No name attribute for transmission tag!");
continue;
}
// Transmission type
TiXmlElement *type_child = trans_it->FirstChildElement("type");
if(!type_child)
{
ROS_ERROR_STREAM_NAMED("parser","No type element found for transmission "
<< transmission.name_);
continue;
}
transmission.type_ = type_child->GetText();
if(transmission.type_.empty())
{
ROS_ERROR_STREAM_NAMED("parser","No type string found for transmission "
<< transmission.name_);
continue;
}
// Load joints
if(!parseJoints(trans_it, transmission.joints_))
{
ROS_ERROR_STREAM_NAMED("parser","Failed to load joints for transmission "
<< transmission.name_);
continue;
}
// Load actuators
if(!parseActuators(trans_it, transmission.actuators_))
{
ROS_ERROR_STREAM_NAMED("parser","Failed to load actuators for transmission "
<< transmission.name_);
continue;
}
// Save loaded transmission
transmissions.push_back(transmission);
} // end for <transmission>
if( transmissions.empty() )
{
ROS_DEBUG_STREAM_NAMED("parser","No tranmissions found.");
}
return true;
}
bool TransmissionParser::parseJoints(TiXmlElement *trans_it, std::vector<JointInfo>& joints)
{
// Loop through each available joint
TiXmlElement *joint_it = NULL;
for (joint_it = trans_it->FirstChildElement("joint"); joint_it;
joint_it = joint_it->NextSiblingElement("joint"))
{
// Create new joint
transmission_interface::JointInfo joint;
// Joint xml element
joint.xml_element_ = joint_it;
// Joint name
if(joint_it->Attribute("name"))
{
joint.name_ = joint_it->Attribute("name");
}
else
{
ROS_ERROR_STREAM_NAMED("parser","No name attribute for joint");
return false;
}
// \todo: implement other generic joint properties
// Add joint to vector
joints.push_back(joint);
}
if(joints.empty())
{
ROS_ERROR_STREAM_NAMED("parser","No joint element found");
return false;
}
return true;
}
bool TransmissionParser::parseActuators(TiXmlElement *trans_it, std::vector<ActuatorInfo>& actuators)
{
// Loop through each available actuator
TiXmlElement *actuator_it = NULL;
for (actuator_it = trans_it->FirstChildElement("actuator"); actuator_it;
actuator_it = actuator_it->NextSiblingElement("actuator"))
{
// Create new actuator
transmission_interface::ActuatorInfo actuator;
// Actuator xml element
actuator.xml_element_ = actuator_it;
// Actuator name
if(actuator_it->Attribute("name"))
{
actuator.name_ = actuator_it->Attribute("name");
}
else
{
ROS_ERROR_STREAM_NAMED("parser","No name attribute for actuator");
return false;
}
// Hardware interface
TiXmlElement *hardware_interface_child = actuator_it->FirstChildElement("hardwareInterface");
if(!hardware_interface_child)
{
ROS_ERROR_STREAM_NAMED("parser","No hardware interface element found for actuator '"
<< actuator.name_ << "'");
continue;
}
actuator.hardware_interface_ = hardware_interface_child->GetText();
if(actuator.hardware_interface_.empty())
{
ROS_ERROR_STREAM_NAMED("parser","No hardware interface string found for actuator '"
<< actuator.name_ << "'");
continue;
}
// \todo: implement other generic actuator properties
// Add actuator to vector
actuators.push_back(actuator);
}
if(actuators.empty())
{
ROS_ERROR_STREAM_NAMED("parser","No actuator element found");
return false;
}
return true;
}
} // namespace