Fix newline issue (#176)

* fix new line rendering for Python

Signed-off-by: Paul Gesel <[email protected]>

Author: pac48

example/src/parameters.yaml

@@ -276,3 +276,35 @@ admittance_controller:
     default_value: [3,3,3],
     read_only: true,
   }
+  hover_override: {
+    type: int,
+    default_value: 1,
+    description: "Override hover action:\n0: Hover\n1: Push\n2: Pull\n-1: Do not override",
+    validation: {
+      one_of<>: [ [ 0, 1, 2, -1 ] ],
+    },
+  }
+  angle_wraparound: {
+    type: bool,
+    default_value: false,
+    description: 'For joints that wrap around (without end stop, ie. are continuous),
+          where the shortest rotation to the target position is the desired motion.
+          If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
+          Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
+          position :math:`s` from the state interface.'
+  }
+  open_loop_control: {
+    type: bool,
+    default_value: false,
+    description: "Use controller in open-loop control mode
+        \n\n
+        * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation.\n
+        * It deactivates the feedback control, see the ``gains`` structure.
+        \n\n
+        This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
+        \n\n
+        If this flag is set, the controller tries to read the values from the command interfaces on activation.
+        If they have real numeric values, those will be used instead of state interfaces.
+        Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits<double>::quiet_NaN()``) or state values when the hardware is started.\n",
+    read_only: true,
+  }

example_python/generate_parameter_module_example/parameters.yaml

@@ -284,3 +284,35 @@ admittance_controller:
     default_value: [3,3,3],
     read_only: true,
   }
+  hover_override: {
+    type: int,
+    default_value: 1,
+    description: "Override hover action:\n0: Hover\n1: Push\n2: Pull\n-1: Do not override",
+    validation: {
+      one_of<>: [ [ 0, 1, 2, -1 ] ],
+    },
+  }
+  angle_wraparound: {
+    type: bool,
+    default_value: false,
+    description: 'For joints that wrap around (without end stop, ie. are continuous),
+          where the shortest rotation to the target position is the desired motion.
+          If true, the position error :math:`e = normalize(s_d - s)` is normalized between :math:`-\pi, \pi`.
+          Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
+          position :math:`s` from the state interface.'
+  }
+  open_loop_control: {
+    type: bool,
+    default_value: false,
+    description: "Use controller in open-loop control mode
+        \n\n
+        * The controller ignores the states provided by hardware interface but using last commands as states for starting the trajectory interpolation.\n
+        * It deactivates the feedback control, see the ``gains`` structure.
+        \n\n
+        This is useful if hardware states are not following commands, i.e., an offset between those (typical for hydraulic manipulators).
+        \n\n
+        If this flag is set, the controller tries to read the values from the command interfaces on activation.
+        If they have real numeric values, those will be used instead of state interfaces.
+        Therefore it is important set command interfaces to NaN (i.e., ``std::numeric_limits<double>::quiet_NaN()``) or state values when the hardware is started.\n",
+    read_only: true,
+  }

generate_parameter_library_py/generate_parameter_library_py/generate_python_module.py

@@ -37,6 +37,7 @@
 
 
 def run(output_file, yaml_file, validation_module=''):
+    print(f'Running {__file__} {output_file} {yaml_file} {validation_module}')
     gen_param_struct = GenerateCode('python')
     output_dir = os.path.dirname(output_file)
     if not os.path.isdir(output_dir):

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter

@@ -1,6 +1,6 @@
 if not self.node_.has_parameter(self.prefix_ + "{{parameter_name}}"):
 {%- filter indent(width=4) %}
-descriptor = ParameterDescriptor(description="{{parameter_description}}", read_only = {{parameter_read_only}})
+descriptor = ParameterDescriptor(description="{{parameter_description|valid_string_python}}", read_only = {{parameter_read_only}})
 {%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
 {%- if validation.arguments|length == 2 %}

generate_parameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter

@@ -5,7 +5,7 @@ entry = {{param_struct_instance}}.{{struct_name}}.get_entry(value)
 param_name = f"{self.prefix_}{{struct_name}}.{value}.{{parameter_field}}"
 if not self.node_.has_parameter(self.prefix_ + param_name):
 {%- filter indent(width=4) %}
-descriptor = ParameterDescriptor(description="{{parameter_description}}", read_only = {{parameter_read_only}})
+descriptor = ParameterDescriptor(description="{{parameter_description|valid_string_python}}", read_only = {{parameter_read_only}})
 {%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
 {%- if "DOUBLE" in parameter_type %}
 {%- if validation.arguments|length == 2 %}

generate_parameter_library_py/generate_parameter_library_py/parse_yaml.py

@@ -39,7 +39,10 @@
 
 from generate_parameter_library_py.cpp_convertions import CPPConverstions
 from generate_parameter_library_py.python_convertions import PythonConvertions
-from generate_parameter_library_py.string_filters_cpp import valid_string_cpp
+from generate_parameter_library_py.string_filters_cpp import (
+    valid_string_cpp,
+    valid_string_python,
+)
 
 
 # YAMLSyntaxError standardizes compiler error messages
@@ -513,6 +516,7 @@ def __str__(self):
         # Create a Jinja2 environment to register the custom filter
         env = Environment()
         env.filters['valid_string_cpp'] = valid_string_cpp
+        env.filters['valid_string_python'] = valid_string_python
         j2_template = env.from_string(GenerateCode.templates['declare_parameter'])
         code = j2_template.render(data, trim_blocks=True)
         return code
@@ -575,6 +579,7 @@ def __str__(self):
         # Create a Jinja2 environment to register the custom filter
         env = Environment()
         env.filters['valid_string_cpp'] = valid_string_cpp
+        env.filters['valid_string_python'] = valid_string_python
         j2_template = env.from_string(
             GenerateCode.templates['declare_runtime_parameter']
         )

generate_parameter_library_py/generate_parameter_library_py/string_filters_cpp.py

@@ -10,13 +10,26 @@ def valid_string_cpp(description):
       str: The filtered string that is a valid C++ string.
     """
     if description:
+        # remove possible markdown/rst syntax, but add proper indent for cpp-header files.
         filtered_description = (
-            description.replace('\\', '\\\\').replace('"', '\\"').replace('`', '')
+            description.replace('\\', '\\\\').replace('`', '').replace('\n', '\\n    ')
         )
-        # create a quote delimited string for every line
-        filtered_description = '\n'.join(
-            f'"{line}"' for line in filtered_description.splitlines()
-        )
-        return filtered_description
+        return f'"{filtered_description}"'
     else:
         return '""'
+
+
+def valid_string_python(description):
+    """
+    Filter a string to make it a valid Python string literal.
+
+    Args:
+      description (str): The input string to be filtered.
+
+    Returns:
+      str: The filtered string that is a valid Python string.
+    """
+    if description:
+        return description.replace('\n', '\\n    ')
+    else:
+        return ''