Envire Types

[haider8645]

Hello,

Is there a reason why the types store the config value as local variables and then add them back to the config once the getFullConfig method is called. Would it be an option to simply just store the config and return it? because all these types are doing is communicate the config via the EnvireGraph to the the subscribers of event ItemAdded.

Best,
Haider

[planthaber]

I can only guess, but these types look like they are meant to be part of the graph, where the normal mode of access is through the graph (e.g. Item), so the obvious way is to store the data in the node/item

These types are mostly meant for the mars robot simulation: https://github.com/orgs/mars-robot-simulation/repositories

[jliersch]

From my perspective it indirectly validates the config maps given to the constructors to some extend. But this could be done more elegantly using config schemas (cf. #5).

Also having the additional operations is more error-prone. For example it seems like the parameters minValue and maxValue will be missing in the returned ConfigMap from the first call to getFullConfigMap here:

envire-envire_types/src/motors/DirectEffort.hpp

Lines 66 to 76 in 9ee2349

	configmaps::ConfigMap getFullConfigMap() {
	configmaps::ConfigMap config;
	config.append(configMap);
	config["name"] = name;
	config["type"] = type;
	configMap["minValue"] = minValue;
	configMap["maxValue"] = maxValue;
	config["maxEffort"] = maxEffort;
	config["maxSpeed"] = maxSpeed;
	config["maxEffortControl"] = maxEffortControl;
	return config;