adding check-nws-nwc-xml folder

experimentalSetups/check-xml/README.md

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+# check-xml
+This folder contains tools dedicated to `XML` files check.
+
+## Content
+Available tools are :
+
+- [`check-nws-nwc-xml`](./check-nws-nwc-xml/README.md)
+
+___
+### check-nws-nwc-xml
+This tool has been developed due to the need to check `xml` files consistency for `CAN` based robots after manual modification due to the new `NWS/NWC` layers implemented in `YARP-3.5`.
+
+in fact, while for ethernet based robots, we have the possibility to run `yarprobotinterface` in dry-run mode (without having the phisical robot connected), as for now this is not possible on `CAN` based robots.
+
+Considering the effort to update the parser in order to allow the dry-run mode also for `CAN` based robots, we opted to proceed writing a dedicated program using both `XSD` and `XPATH` technologies.

experimentalSetups/check-xml/check-nws-nwc-xml/CMakeLists.txt

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+################################################################################
+#                                                                              #
+# Copyright (C) 2020 Fondazione Istitito Italiano di Tecnologia (IIT)          #
+# All Rights Reserved.                                                         #
+#                                                                              #
+################################################################################
+
+cmake_minimum_required(VERSION 3.12)
+project(check-nws-nwc-xml)
+
+include(FetchContent)
+
+FetchContent_Declare(
+	pugixml
+	GIT_REPOSITORY https://github.com/zeux/pugixml.git
+	GIT_TAG        origin/master
+)
+
+FetchContent_GetProperties(pugixml)
+  if(NOT pugixml)
+	  FetchContent_Populate(pugixml)
+	  add_subdirectory(${pugixml_SOURCE_DIR} ${pugixml_BINARY_DIR})
+  endif()
+
+add_executable(${PROJECT_NAME})
+target_sources(${PROJECT_NAME} PRIVATE check-nws-nwc-xml.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE pugixml::pugixml)
+
+# install
+install(
+ TARGETS ${PROJECT_NAME}
+ EXPORT ${CMAKE_PROJECT_NAME}
+ LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+ PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

experimentalSetups/check-xml/check-nws-nwc-xml/README.md

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+# check-nws-nwc-xml
+This code has been used to check `xml` files consistency after manual modification due to the new `NWS/NWC` layers implemented in `YARP-3.5`.
+The program uses `XSD` schema and `XPATH` to check `XML` files.
+
+## Usage
+1. Install the `libxml2-utils` package : 
+
+```sh
+sudo apt install libxml2-utils
+```
+
+2. Build the code :
+
+```sh
+cd <your-robots-configuration-folder>/experimentalSetups/check-nws-nwc-xml
+mkdir build
+cd build
+ccmake ..
+make
+```
+
+3. Run the program :
+
+```sh
+cd <your-robots-configuration-folder>/experimentalSetups/check-nws-nwc-xml/build
+./check-nws-nwc-xml <robot-folder-absolute-path>
+```
+## Example
+
+Run : 
+
+```sh
+./check-nws-nwc-xml /home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01/
+```
+
+Output : 
+
+```
+1 - test yarprobotinterface.ini presence **************
+
+yarprobotinterface.ini FOUND! PASS
+
+2 - test included xml files presence **************
+
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/left_arm_cartesian.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/right_arm_cartesian.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_remapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_remapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_remapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_remapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_remapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_remapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_left_arm.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_left_hand.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_right_arm.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_right_hand.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_left_leg.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_right_leg.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_head.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/motorControl/icub_torso.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/left_arm_VFT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/left_leg_VFT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/right_arm_VFT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/right_leg_VFT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/VFT/torso_VFT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/left_arm_virtual_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/left_leg_virtual_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/right_arm_virtual_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/right_leg_virtual_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/VFT/torso_virtual_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/left_arm_FT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/left_leg_FT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/right_arm_FT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/FT/right_leg_FT_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/MAIS/left_hand_mais_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/MAIS/right_hand_mais_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/left_arm_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/left_leg_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/right_arm_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/FT/right_leg_strain.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/MAIS/left_hand_mais.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/MAIS/right_hand_mais.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/skin/left_arm_skin_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/skin/right_arm_skin_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/skin/torso_skin_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/skin/left_arm.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/skin/right_arm.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/skin/torso.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-imuFilter_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-imuFilter.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-inertials_wrapper.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/inertials/head-inertials_wrapper-deprecated.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//hardware/inertials/head-inertial.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/head_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/torso_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_leg_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_leg_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_arm_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_arm_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_hand_calib.xml
+found :/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_hand_calib.xml
+
+***************************************
+PASS ! found 63 of 63 file included.
+
+
+3 - test calibrators/wrappers/remappers/cartesian xml files consistency **************
+
+head - CALIBRATOR CHECK PASSED!
+head - WRAPPER CHECK PASSED!
+head - REMAPPER CHECK PASSED!
+torso - CALIBRATOR CHECK PASSED!
+torso - WRAPPER CHECK PASSED!
+torso - REMAPPER CHECK PASSED!
+right_leg - CALIBRATOR CHECK PASSED!
+right_leg - WRAPPER CHECK PASSED!
+right_leg - REMAPPER CHECK PASSED!
+left_leg - CALIBRATOR CHECK PASSED!
+left_leg - WRAPPER CHECK PASSED!
+left_leg - REMAPPER CHECK PASSED!
+left_arm - CALIBRATOR CHECK PASSED!
+left_arm - WRAPPER CHECK PASSED!
+left_arm - REMAPPER CHECK PASSED!
+left_arm - CARTESIAN CHECK PASSED!
+right_arm - CALIBRATOR CHECK PASSED!
+right_arm - WRAPPER CHECK PASSED!
+right_arm - REMAPPER CHECK PASSED!
+right_arm - CARTESIAN CHECK PASSED!
+
+4 - test calibrators consistency with XSD schema **************
+
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/head_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/head_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/torso_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/torso_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_leg_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_leg_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_leg_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_leg_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_arm_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_arm_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_arm_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_arm_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_hand_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/left_hand_calib.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_hand_calib.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//calibrators/right_hand_calib.xml validates
+Calibrators XSD check passed!
+
+5 - test cartesian consistency with XSD schema **************
+
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/left_arm_cartesian.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/left_arm_cartesian.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/right_arm_cartesian.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//cartesian/right_arm_cartesian.xml validates
+Cartesian XSD check passed!
+
+6 - test wrappers consistency with XSD schema **************
+
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_wrapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_wrapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_wrapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_wrapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_wrapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_wrapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_wrapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_wrapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_wrapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_wrapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_wrapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_wrapper.xml validates
+Wrappers XSD check passed!
+
+7 - test remappers consistency with XSD schema **************
+
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_remapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_arm-mc_remapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_remapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_arm-mc_remapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_remapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/head-mc_remapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_remapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/torso-mc_remapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_remapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/left_leg-mc_remapper.xml validates
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_remapper.xml
+/home/tumme/icub-tech-iit/robots-configuration/iCubLausanne01//wrappers/motorControl/right_leg-mc_remapper.xml validates
+Remappers XSD check passed!
+
+***************************************************
+
+ALL TESTS PASSED!!
+
+```