TechnosoftIpos_ParamsParser.h

/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
 
// Generated by yarpDeviceParamParserGenerator (2.0)
// 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: Sun May  3 12:41:45 2026
 
 
#ifndef TECHNOSOFTIPOS_PARAMSPARSER_H
#define TECHNOSOFTIPOS_PARAMSPARSER_H
 
#include <yarp/os/Searchable.h>
#include <yarp/dev/IDeviceDriverParams.h>
#include <string>
#include <cmath>
 
class TechnosoftIpos_ParamsParser : public yarp::dev::IDeviceDriverParams
{
public:
    TechnosoftIpos_ParamsParser();
    ~TechnosoftIpos_ParamsParser() override = default;
 
public:
    const std::string m_device_classname = {"TechnosoftIpos"};
    const std::string m_device_name = {"TechnosoftIpos"};
    bool m_parser_is_strict = false;
    struct parser_version_type
    {
         int major = 2;
         int minor = 0;
    };
    const parser_version_type m_parser_version = {};
 
    std::string m_provided_configuration;
 
    const std::string m_canId_defaultValue = {""};
    const std::string m_useEmbeddedPid_defaultValue = {"true"};
    const std::string m_name_defaultValue = {""};
    const std::string m_type_defaultValue = {""};
    const std::string m_max_defaultValue = {""};
    const std::string m_min_defaultValue = {""};
    const std::string m_maxVel_defaultValue = {""};
    const std::string m_refSpeed_defaultValue = {""};
    const std::string m_refAcceleration_defaultValue = {""};
    const std::string m_extraTr_defaultValue = {"1.0"};
    const std::string m_samplingPeriod_defaultValue = {""};
    const std::string m_reverse_defaultValue = {""};
    const std::string m_heartbeatPeriod_defaultValue = {""};
    const std::string m_syncPeriod_defaultValue = {""};
    const std::string m_initialControlMode_defaultValue = {"idl"};
    const std::string m_sdoTimeout_defaultValue = {"0.02"};
    const std::string m_driveStateTimeout_defaultValue = {"2.0"};
    const std::string m_tpdo1InhibitTime_defaultValue = {"0.0"};
    const std::string m_tpdo1EventTimer_defaultValue = {"0.0"};
    const std::string m_tpdo2InhibitTime_defaultValue = {"0.0"};
    const std::string m_tpdo2EventTimer_defaultValue = {"0.0"};
    const std::string m_monitorPeriod_defaultValue = {"0.0"};
    const std::string m_driver_peakCurrent_defaultValue = {""};
    const std::string m_motor_k_defaultValue = {""};
    const std::string m_gearbox_tr_defaultValue = {""};
    const std::string m_encoder_encoderPulses_defaultValue = {""};
    const std::string m_ipMode_defaultValue = {"pt"};
    const std::string m_ipPeriodMs_defaultValue = {"50"};
    const std::string m_enableIp_defaultValue = {"false"};
    const std::string m_enableCsv_defaultValue = {"false"};
    const std::string m_initialInteractionMode_defaultValue = {"unkn"};
    const std::string m_stiffness_defaultValue = {"0.0"};
    const std::string m_damping_defaultValue = {"0.0"};
    const std::string m_impedanceOffset_defaultValue = {"0.0"};
    const std::string m_minStiffness_defaultValue = {"0.0"};
    const std::string m_maxStiffness_defaultValue = {"0.0"};
    const std::string m_minDamping_defaultValue = {"0.0"};
    const std::string m_maxDamping_defaultValue = {"0.0"};
    const std::string m_kp_defaultValue = {"0.0"};
    const std::string m_ki_defaultValue = {"0.0"};
    const std::string m_kd_defaultValue = {"0.0"};
    const std::string m_maxInt_defaultValue = {"0.0"};
    const std::string m_maxOutput_defaultValue = {"0.0"};
    const std::string m_offset_defaultValue = {"0.0"};
    const std::string m_scale_defaultValue = {"1.0"};
    const std::string m_stictionUp_defaultValue = {"0.0"};
    const std::string m_stictionDown_defaultValue = {"0.0"};
    const std::string m_kff_defaultValue = {"0.0"};
    const std::string m_errorLimit_defaultValue = {"0.0"};
 
    int m_canId = {0}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    bool m_useEmbeddedPid = {true};
    std::string m_name = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    std::string m_type = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_max = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_min = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_maxVel = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_refSpeed = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_refAcceleration = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_extraTr = {1.0};
    double m_samplingPeriod = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    bool m_reverse = {false}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_heartbeatPeriod = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_syncPeriod = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    std::string m_initialControlMode = {"idl"};
    double m_sdoTimeout = {0.02};
    double m_driveStateTimeout = {2.0};
    double m_tpdo1InhibitTime = {0.0};
    double m_tpdo1EventTimer = {0.0};
    double m_tpdo2InhibitTime = {0.0};
    double m_tpdo2EventTimer = {0.0};
    double m_monitorPeriod = {0.0};
    double m_driver_peakCurrent = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_motor_k = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_gearbox_tr = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    double m_encoder_encoderPulses = {std::nan("1")}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
    std::string m_ipMode = {"pt"};
    int m_ipPeriodMs = {50};
    bool m_enableIp = {false};
    bool m_enableCsv = {false};
    std::string m_initialInteractionMode = {"unkn"};
    double m_stiffness = {0.0};
    double m_damping = {0.0};
    double m_impedanceOffset = {0.0};
    double m_minStiffness = {0.0};
    double m_maxStiffness = {0.0};
    double m_minDamping = {0.0};
    double m_maxDamping = {0.0};
    double m_kp = {0.0};
    double m_ki = {0.0};
    double m_kd = {0.0};
    double m_maxInt = {0.0};
    double m_maxOutput = {0.0};
    double m_offset = {0.0};
    double m_scale = {1.0};
    double m_stictionUp = {0.0};
    double m_stictionDown = {0.0};
    double m_kff = {0.0};
    double m_errorLimit = {0.0};
 
    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;
    bool getParamValue(const std::string& paramName, std::string& paramValue) const override;
    std::string   getConfiguration() const override;
};
 
#endif