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Remove Boost Dependency #31

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Remove Boost Dependency #31

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dd57c4c
fix: Removed Boost dependency
Woojin-Crive Apr 8, 2025
19d95c8
fix: lint error
Woojin-Crive Apr 8, 2025
7451032
feat: Enhance string splitting and error handling in Dynamixel model …
Woojin-Crive Apr 9, 2025
57721a1
Updated the CHANGELOG and version to release binary packages
robotpilot Apr 9, 2025
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3 changes: 1 addition & 2 deletions include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,15 +19,14 @@

#include <cmath>
#include <cstring>
#include <cstdint>

#include <fstream>
#include <iostream>
#include <map>
#include <string>
#include <vector>

#include <boost/algorithm/string.hpp>

namespace dynamixel_hardware_interface
{

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61 changes: 39 additions & 22 deletions src/dynamixel/dynamixel_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,25 @@
#include <string>
#include <utility>
#include <vector>
#include <sstream>

namespace dynamixel_hardware_interface
{

// Helper function to split string by delimiter
std::vector<std::string> split_string(const std::string & str, char delimiter)
{
std::vector<std::string> tokens;
std::string token;
std::istringstream token_stream(str);
while (std::getline(token_stream, token, delimiter)) {
if (!token.empty()) { // Skip empty tokens
tokens.push_back(token);
}
}
return tokens;
}

void DynamixelInfo::SetDxlModelFolderPath(const char * path)
{
dxl_model_file_dir = std::string(path);
Expand Down Expand Up @@ -80,21 +95,22 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
break;
}

std::vector<std::string> strs;
boost::split(strs, line, boost::is_any_of("\t"));

if (strs.at(0) == "value_of_zero_radian_position") {
temp_dxl_info.value_of_zero_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
} else if (strs.at(0) == "value_of_max_radian_position") {
temp_dxl_info.value_of_max_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
} else if (strs.at(0) == "value_of_min_radian_position") {
temp_dxl_info.value_of_min_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
} else if (strs.at(0) == "min_radian") {
temp_dxl_info.min_radian = static_cast<double>(stod(strs.at(1)));
} else if (strs.at(0) == "max_radian") {
temp_dxl_info.max_radian = static_cast<double>(stod(strs.at(1)));
} else if (strs.at(0) == "torque_constant") {
temp_dxl_info.torque_constant = static_cast<double>(stod(strs.at(1)));
std::vector<std::string> strs = split_string(line, '\t');

if (!strs.empty()) {
if (strs.at(0) == "value_of_zero_radian_position") {
temp_dxl_info.value_of_zero_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
} else if (strs.at(0) == "value_of_max_radian_position") {
temp_dxl_info.value_of_max_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
} else if (strs.at(0) == "value_of_min_radian_position") {
temp_dxl_info.value_of_min_radian_position = static_cast<int32_t>(stoi(strs.at(1)));
} else if (strs.at(0) == "min_radian") {
temp_dxl_info.min_radian = static_cast<double>(stod(strs.at(1)));
} else if (strs.at(0) == "max_radian") {
temp_dxl_info.max_radian = static_cast<double>(stod(strs.at(1)));
} else if (strs.at(0) == "torque_constant") {
temp_dxl_info.torque_constant = static_cast<double>(stod(strs.at(1)));
}
}
}

Expand All @@ -105,14 +121,15 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
break;
}

std::vector<std::string> strs;
boost::split(strs, line, boost::is_any_of("\t"));
std::vector<std::string> strs = split_string(line, '\t');

ControlItem temp;
temp.address = static_cast<uint16_t>(stoi(strs.at(0)));
temp.size = static_cast<uint8_t>(stoi(strs.at(1)));
temp.item_name = strs.at(2);
temp_dxl_info.item.push_back(temp);
if (!strs.empty()) {
ControlItem temp;
temp.address = static_cast<uint16_t>(stoi(strs.at(0)));
temp.size = static_cast<uint8_t>(stoi(strs.at(1)));
temp.item_name = strs.at(2);
temp_dxl_info.item.push_back(temp);
}
}

dxl_info_[id] = temp_dxl_info;
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