JointCommandFactory.cpp

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#include "robodyn_mechanisms/JointCommandFactory.h"

using namespace std;
using namespace log4cpp;
namespace RSU = StringUtilities;

/***************************************************************************/
JointCommandInterfacePtr JointCommandFactory::generate(const std::string& mechanism, const JointCommandInterface::IoFunctions& io)
{
    JointCommandInterfacePtr interfacePtr;

    string jointType;

    if (io.getCommandFile.empty())
    {
        std::stringstream err;
        err << "generate requires 'io.getCommandFile' be non-empty.";
        NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", log4cpp::Priority::FATAL, err.str());
        throw std::invalid_argument(err.str());
    }

    jointType = Private::getJointTypeFromParameterFile(io.getCommandFile(mechanism));

    if (jointType == "SeriesElastic")
    {
        interfacePtr = boost::make_shared<JointCommandSeriesElastic>(mechanism, io);
    }

    else if (jointType == "Rigid")
    {
        interfacePtr = boost::make_shared<JointCommandRigid>(mechanism, io);
    }

    else if (jointType == "Gripper")
    {
        interfacePtr = boost::make_shared<JointCommandGripper>(mechanism, io);
    }

    else if (jointType == "PrimaryFinger")
    {
        interfacePtr = boost::make_shared<JointCommandFinger<3, 4> >(mechanism, io);
    }

    else if (jointType == "SecondaryFingers")
    {
        // Both fingers are independent and have Hall sensors on their proximal
        // and medial joints. The distal joints are mechanically coupled and are
        // completely determined by the other two joints.
        interfacePtr = boost::make_shared<JointCommandFinger<2, 6> >(mechanism, io);
    }

    else if (jointType == "Thumb")
    {
        interfacePtr = boost::make_shared<JointCommandFinger<4> >(mechanism, io);
    }

    else if (jointType == "Wrist")
    {
        interfacePtr = boost::make_shared<JointCommandWrist>(mechanism, io);
    }

    else
    {
        stringstream err;
        err << "Unsupported joint type [" << jointType << "] found in CommandFile";
        NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", Priority::ERROR, err.str());
        throw runtime_error(err.str());
    }

    return interfacePtr;
}

/***************************************************************************/
std::string JointCommandFactory::Private::getJointTypeFromParameterFile(const std::string& parameterFile)
{
    TiXmlDocument file(parameterFile.c_str());
    bool          loadOkay = file.LoadFile();

    if (!loadOkay)
    {
        stringstream err;
        err << "Failed to load file [" << parameterFile << "]";
        NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", Priority::ERROR, err.str());
        throw runtime_error(err.str());
    }

    TiXmlHandle doc(&file);
    NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", Priority::INFO, "CommandFile [" + parameterFile + "] successfully loaded.");

    // Check for ApiMap
    TiXmlHandle parametersElement(doc.FirstChildElement("ApiMap"));

    if (parametersElement.ToElement())
    {
        // Check for Properties
        TiXmlHandle propertiesElement(parametersElement.FirstChildElement("Properties"));

        if (propertiesElement.ToElement())
        {
            // Check for JointType
            if (propertiesElement.FirstChildElement("JointType").ToElement())
            {
                return string(propertiesElement.FirstChildElement("JointType").ToElement()->Attribute("id"));
            }
            else
            {
                stringstream err;
                err << "The ApiMap file has no element named [JointType]";
                NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", Priority::ERROR, err.str());
                throw runtime_error(err.str());
            }
        }
        else
        {
            stringstream err;
            err << "The file " << parameterFile << " has no element named [Properties]";
            NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", Priority::ERROR, err.str());
            throw runtime_error(err.str());
        }
    }
    else
    {
        stringstream err;
        err << "The file " << parameterFile << " has no element named [ApiMap]";
        NasaCommonLogging::Logger::log("gov.nasa.robonet.JointCommandFactory", Priority::ERROR, err.str());
        throw runtime_error(err.str());
    }

    return string();
}