dinrail

Almost drop-in replacement for "devices" part of YARP, used to run robots in Generative Robotics.

The main goal is to implement an almost drop-in replacement for the "devices" part of YARP, with additional planner properties and features:

• lightweight (no heavy dependencies for the code part)
• compact (easy to mantain and extend)
• with support for writing devices in non-C++ languages, like Python

To achieve easy transition, the goal of dinrail is to automatically support opening YARP devices as dinrail devices, and viceversa.

Install and usage

The project is a fairly standard CMake project. Once it is installed, a basic example is:

find_package(dinrail REQUIRED)

target_link_libraries(target PRIVATE dinrail::dinrail)

Basic API

Configure and open a fake device, then query it through a typed interface:

#include <dinrail/Device.h>
#include <dinrail/IAxisInfo.h>
#include <dinrail/Parameters.h>

dinrail::Parameters opts;
opts.put("device", "fakeMotionControl");
opts.put("number_of_joints", 3);
opts.put("joint_names", std::vector<std::string>{"shoulder", "elbow", "wrist"});
opts.put("joint_type", std::vector<std::string>{"revolute", "prismatic", "revolute"});

dinrail::Device device;
device.open(opts);

dinrail::IAxisInfo* axisInfo = nullptr;
device.view(axisInfo);

int axes = 0;
axisInfo->getAxes(&axes); // axes == 3

std::string name;
axisInfo->getAxisName(0, name); // name == "shoulder"

device.close();

Basic CLI

To know which devices are available in your install, just run:

dinrail dev --list

to see the available devices.

Additional documentation

See the following links for more documentation on the dinrail project:

• dinrail::Parameters — how to use the hierarchical key-value configuration container
• Plugin types / internals — overview of plugin internals

Examples

Examples documentation (including Pixi commands) is available at:

• examples/README.md

Built-in device documentation

• fakeMotionControl README — parameters accepted by the fakeMotionControl plugin

Development

For internal developement, this repos uses pixi.

Whenever you work on it, run:

pixi run test

to run the test suite and:

pixi run format

to format the source code.