Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

couplingXCubHandMk5: handle the param parsing with the YARP param parser generator #231

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

couplingXCubHandMk5: handle the param parsing with the YARP param parser generator #231

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
ad77f96
couplingXCubHandMk5: handle the param parsing with the YARP param par…
Nicogene Mar 26, 2024
bcfdd68
Port all ini to use parenthesis
Nicogene Apr 8, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 5 additions & 2 deletions src/modules/couplingXCubHandMk5/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,18 +10,21 @@ yarp_prepare_plugin(couplingXCubHandMk5
CATEGORY device
TYPE CouplingXCubHandMk5
INCLUDE CouplingXCubHandMk5.h
GENERATE_PARSER
DEFAULT ON)

if(ENABLE_couplingXCubHandMk5)

option(ALLOW_DEVICE_PARAM_PARSER_GENERATION "Generate the param parser for couplingXCubHandMk5 device" OFF)
yarp_add_plugin(yarp_couplingXCubHandMk5)

if(MSVC)
add_definitions(-D_USE_MATH_DEFINES)
endif()

target_sources(yarp_couplingXCubHandMk5 PRIVATE CouplingXCubHandMk5.cpp
CouplingXCubHandMk5.h)
CouplingXCubHandMk5.h
CouplingXCubHandMk5_ParamsParser.cpp
CouplingXCubHandMk5_ParamsParser.h)

target_link_libraries(yarp_couplingXCubHandMk5 PRIVATE YARP::YARP_os
YARP::YARP_dev)
Expand Down
119 changes: 22 additions & 97 deletions src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,29 +72,13 @@ double CouplingXCubHandMk5::evaluateCoupledJointJacobian(const double& q1, const
}


bool CouplingXCubHandMk5::parseFingerParameters(yarp::os::Searchable& config)
bool CouplingXCubHandMk5::populateFingerParameters()
{

yarp::os::Bottle& hand_params = config.findGroup("COUPLING_PARAMS");
if(hand_params.isNull())
{
yCError(COUPLINGXCUBHANDMK5)<<"Missing COUPLING_PARAMS section in the configuration file";
return false;
}
auto L0x = hand_params.findGroup("L0x");
auto L0y = hand_params.findGroup("L0y");
auto q2bias = hand_params.findGroup("q2bias");
auto q1off = hand_params.findGroup("q1off");
auto k = hand_params.findGroup("k");
auto d = hand_params.findGroup("d");
auto l = hand_params.findGroup("l");
auto b = hand_params.findGroup("b");

constexpr int nFingers = 5;
// All the +1 is because the first element of the bottle is the name of the group
if(L0x.size()!=nFingers+1 || L0y.size()!=nFingers+1 || q2bias.size()!=nFingers+1 ||
q1off.size()!=nFingers+1 || k.size()!=nFingers+1 || d.size()!=nFingers+1 ||
l.size()!=nFingers+1 || b.size()!=nFingers+1 )
if(m_COUPLING_PARAMS_L0x.size()!=nFingers || m_COUPLING_PARAMS_L0y.size()!=nFingers || m_COUPLING_PARAMS_q2bias.size()!=nFingers ||
m_COUPLING_PARAMS_q1off.size()!=nFingers || m_COUPLING_PARAMS_k.size()!=nFingers || m_COUPLING_PARAMS_d.size()!=nFingers ||
m_COUPLING_PARAMS_l.size()!=nFingers || m_COUPLING_PARAMS_b.size()!=nFingers )
{
yCError(COUPLINGXCUBHANDMK5)<<"Invalid hand parameters, check your configuration file";
return false;
Expand All @@ -104,105 +88,46 @@ bool CouplingXCubHandMk5::parseFingerParameters(yarp::os::Searchable& config)
const std::array<std::string,5> names = {"thumb", "index", "middle", "ring", "pinky"};
for (std::size_t i = 0; i < names.size(); i++)
{
mFingerParameters.insert({names.at(i), {L0x.get(i+1).asFloat32(), L0y.get(i+1).asFloat32(), q2bias.get(i+1).asFloat32(),
q1off.get(i+1).asFloat32(), k.get(i+1).asFloat32(), d.get(i+1).asFloat32(),
l.get(i+1).asFloat32(), b.get(i+1).asFloat32()}});
mFingerParameters.insert({names.at(i), {m_COUPLING_PARAMS_L0x[i], m_COUPLING_PARAMS_L0y[i], m_COUPLING_PARAMS_q2bias[i],
m_COUPLING_PARAMS_q1off[i], m_COUPLING_PARAMS_k[i], m_COUPLING_PARAMS_d[i],
m_COUPLING_PARAMS_l[i], m_COUPLING_PARAMS_b[i]}});
}

return true;
}

bool CouplingXCubHandMk5::parseCouplingParameters(yarp::os::Searchable& config) {
bool CouplingXCubHandMk5::populateCouplingParameters() {
yarp::sig::VectorOf<size_t> coupled_physical_joints{0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11};
yarp::sig::VectorOf<size_t> coupled_actuated_axes{0, 1, 2, 3, 4, 5};
std::vector<std::string> physical_joint_names;
std::vector<std::string> actuated_axes_names;
std::vector<std::pair<double, double>> physical_joint_limits;

yarp::os::Bottle& physical_joint_names_bottle = config.findGroup("jointNames");

if (physical_joint_names_bottle.isNull()) {
yCError(COUPLINGXCUBHANDMK5) << "Error cannot find jointNames." ;
return false;
}

yCDebug(COUPLINGXCUBHANDMK5) << "Requested joints:" << physical_joint_names_bottle.toString();

for (size_t i = 1; i < physical_joint_names_bottle.size(); i++) {
physical_joint_names.push_back(physical_joint_names_bottle.get(i).asString().c_str());
}

yarp::os::Bottle& coupling_params = config.findGroup("COUPLING");
if (coupling_params.size() ==0)
physical_joint_limits.resize(m_jointNames.size());
for (int i = 0; i< m_jointNames.size(); i++)
{
yCError(COUPLINGXCUBHANDMK5) << "Missing param in COUPLING section";
return false;
physical_joint_limits[i] = std::make_pair(m_LIMITS_jntPosMin[i], m_LIMITS_jntPosMax[i]);
}
yCDebug(COUPLINGXCUBHANDMK5) << "Requested couplings:" << coupling_params.toString();

yarp::os::Bottle& actuated_axes_names_bottle = coupling_params.findGroup("actuatedAxesNames");
initialise(coupled_physical_joints, coupled_actuated_axes, m_jointNames, m_COUPLING_actuatedAxesNames, physical_joint_limits);
return true;
}

if (actuated_axes_names_bottle.isNull()) {
yCError(COUPLINGXCUBHANDMK5) << "Error cannot find actuatedAxesNames." ;
return false;
}
bool CouplingXCubHandMk5::open(yarp::os::Searchable& config) {

for (size_t i = 1; i < actuated_axes_names_bottle.size(); i++) {
actuated_axes_names.push_back(actuated_axes_names_bottle.get(i).asString().c_str());
}
physical_joint_limits.resize(physical_joint_names.size());
yarp::os::Bottle& limits_bottle = config.findGroup("LIMITS");
if (!limits_bottle.isNull())
{
yarp::os::Bottle& pos_limit_min = limits_bottle.findGroup("jntPosMin");
if (!pos_limit_min.isNull() && static_cast<size_t>(pos_limit_min.size()) == physical_joint_limits.size()+1)
{
for(size_t i = 0; i < physical_joint_limits.size(); ++i)
{
physical_joint_limits[i].first = pos_limit_min.get(i+1).asFloat64();
}
}
else
{
yCError(COUPLINGXCUBHANDMK5) << "Failed to parse jntPosMin parameter";
return false;
}
yarp::os::Bottle& pos_limit_max = limits_bottle.findGroup("jntPosMax");
if (!pos_limit_max.isNull() && static_cast<size_t>(pos_limit_max.size()) == physical_joint_limits.size()+1)
{
for(size_t i = 0; i < physical_joint_limits.size(); ++i)
{
physical_joint_limits[i].second = pos_limit_max.get(i+1).asFloat64();

}
}
else
{
yCError(COUPLINGXCUBHANDMK5) << "Failed to parse jntPosMax parameter";
return false;
}
}
else
{
yCError(COUPLINGXCUBHANDMK5) << "Failed to parse LIMITS parameter";
if(!parseParams(config)) {
yCError(COUPLINGXCUBHANDMK5) << "Error parsing parameters";
return false;
}
initialise(coupled_physical_joints, coupled_actuated_axes, physical_joint_names, actuated_axes_names, physical_joint_limits);
return true;
}

bool CouplingXCubHandMk5::open(yarp::os::Searchable& config) {
yCDebug(COUPLINGXCUBHANDMK5) << "Opening CouplingXCubHandMk5"<<config.toString();

// TODO INVOKE ImplementCoupling::initialise()
bool ok = parseFingerParameters(config);
bool ok = populateCouplingParameters();
if (!ok) {
yCError(COUPLINGXCUBHANDMK5) << "Error parsing finger parameters";
yCError(COUPLINGXCUBHANDMK5) << "Error parsing coupling parameters";
return false;
}

ok &= parseCouplingParameters(config);
ok = ok && populateFingerParameters();
if (!ok) {
yCError(COUPLINGXCUBHANDMK5) << "Error parsing coupling parameters";
yCError(COUPLINGXCUBHANDMK5) << "Error parsing finger parameters";
return false;
}

Expand Down
8 changes: 5 additions & 3 deletions src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
#include <yarp/os/LogComponent.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/ImplementJointCoupling.h>
#include "CouplingXCubHandMk5_ParamsParser.h"

#include <unordered_map>
#include <vector>
Expand All @@ -38,7 +39,8 @@ struct FingerParameters
/** TBD
*/
class CouplingXCubHandMk5 : public yarp::dev::DeviceDriver,
public yarp::dev::ImplementJointCoupling {
public yarp::dev::ImplementJointCoupling,
public CouplingXCubHandMk5_ParamsParser {
public:
CouplingXCubHandMk5() = default;
virtual ~CouplingXCubHandMk5() override = default;
Expand Down Expand Up @@ -82,8 +84,8 @@ class CouplingXCubHandMk5 : public yarp::dev::DeviceDriver,
*/
double evaluateCoupledJointJacobian(const double& q1, const std::string& finger_name);

bool parseFingerParameters(yarp::os::Searchable& config);
bool parseCouplingParameters(yarp::os::Searchable& config);
bool populateFingerParameters();
bool populateCouplingParameters();
};

#endif // COUPLINGXCUBHANDMK5_H
Loading
Loading