simple_transmission_loader.cpp

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// Copyright (C) 2013, PAL Robotics S.L.
//
// 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 PAL Robotics S.L. 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.

// ROS
#include <ros/console.h>

// Pluginlib
#include <pluginlib/class_list_macros.h>

// ros_control
#include <hardware_interface/internal/demangle_symbol.h>
#include <transmission_interface/simple_transmission.h>
#include <transmission_interface/simple_transmission_loader.h>

namespace transmission_interface
{

SimpleTransmissionLoader::TransmissionPtr SimpleTransmissionLoader::load(const TransmissionInfo& transmission_info)
{
  // Transmission should contain only one actuator/joint
  if (!checkActuatorDimension(transmission_info, 1)) {return TransmissionPtr();}
  if (!checkJointDimension(transmission_info,    1)) {return TransmissionPtr();}

  // Parse actuator and joint xml elements
  TiXmlElement actuator_el = loadXmlElement(transmission_info.actuators_.front().xml_element_);
  TiXmlElement joint_el    = loadXmlElement(transmission_info.joints_.front().xml_element_);

  // Parse required mechanical reduction
  double reduction = 0.0;
  const ParseStatus reduction_status = getActuatorReduction(actuator_el,
                                                            transmission_info.actuators_.front().name_,
                                                            transmission_info.name_,
                                                            true, // Required
                                                            reduction);
  if (reduction_status != SUCCESS) {return TransmissionPtr();}

  // Parse optional joint offset. Even though it's optional --and to avoid surprises-- we fail if the element is
  // specified but is of the wrong type
  double joint_offset = 0.0;
  const ParseStatus joint_offset_status = getJointOffset(joint_el,
                                                         transmission_info.joints_.front().name_,
                                                         transmission_info.name_,
                                                         false, // Optional
                                                         joint_offset);
  if (joint_offset_status == BAD_TYPE) {return TransmissionPtr();}

  // Transmission instance
  try
  {
    TransmissionPtr transmission(new SimpleTransmission(reduction, joint_offset));
    return transmission;
  }
  catch(const TransmissionInterfaceException& ex)
  {
    using hardware_interface::internal::demangledTypeName;
    ROS_ERROR_STREAM_NAMED("parser", "Failed to construct transmission '" << transmission_info.name_ << "' of type '" <<
                           demangledTypeName<SimpleTransmission>()<< "'. " << ex.what());
    return TransmissionPtr();
  }
}

} // namespace

PLUGINLIB_EXPORT_CLASS(transmission_interface::SimpleTransmissionLoader,
                       transmission_interface::TransmissionLoader)