[MockHardware] Remove all deprecated options and deprecated plugins f…

…rom the library. (ros-controls#1150) * Rename HW for simpler debugging and remove deprecated initial value handling. * Remove fake from parameters. * Remove FakeSystem * Cleanup fake from tests.
henrygerardmoore · Nov 7, 2023 · 0863acd · 0863acd
1 parent b33e579
commit 0863acd
Show file tree

Hide file tree

Showing 7 changed files with 164 additions and 361 deletions.
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
@@ -54,23 +54,6 @@ target_compile_definitions(mock_components PRIVATE "HARDWARE_INTERFACE_BUILDING_
 pluginlib_export_plugin_description_file(
   hardware_interface mock_components_plugin_description.xml)
 
-add_library(fake_components SHARED
-  src/mock_components/generic_system.cpp
-  src/mock_components/fake_generic_system.cpp
-)
-target_compile_features(fake_components PUBLIC cxx_std_17)
-target_include_directories(fake_components PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/hardware_interface>
-)
-ament_target_dependencies(fake_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(fake_components PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
-
-pluginlib_export_plugin_description_file(
-  hardware_interface fake_components_plugin_description.xml)
-
 if(BUILD_TESTING)
 
   find_package(ament_cmake_gmock REQUIRED)
@@ -145,7 +128,6 @@ install(
 )
 install(
   TARGETS
-    fake_components
     mock_components
     hardware_interface
   EXPORT export_hardware_interface

diff --git a/hardware_interface/fake_components_plugin_description.xml b/hardware_interface/fake_components_plugin_description.xml
diff --git a/hardware_interface/include/fake_components/generic_system.hpp b/hardware_interface/include/fake_components/generic_system.hpp
diff --git a/hardware_interface/include/fake_components/visibility_control.h b/hardware_interface/include/fake_components/visibility_control.h
diff --git a/hardware_interface/src/mock_components/fake_generic_system.cpp b/hardware_interface/src/mock_components/fake_generic_system.cpp
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
@@ -79,20 +79,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   }
   else
   {
-    // check if fake_sensor_commands was set instead and issue warning.
-    it = info_.hardware_parameters.find("fake_sensor_commands");
-    if (it != info_.hardware_parameters.end())
-    {
-      use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
-      RCUTILS_LOG_WARN_NAMED(
-        "mock_generic_system",
-        "Parameter 'fake_sensor_commands' has been deprecated from usage. Use"
-        "'mock_sensor_commands' instead.");
-    }
-    else
-    {
-      use_mock_sensor_command_interfaces_ = false;
-    }
+    use_mock_sensor_command_interfaces_ = false;
   }
 
   // check if to create mock command interface for gpio
@@ -103,20 +90,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   }
   else
   {
-    // check if fake_gpio_commands was set instead and issue warning
-    it = info_.hardware_parameters.find("fake_gpio_commands");
-    if (it != info_.hardware_parameters.end())
-    {
-      use_mock_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
-      RCUTILS_LOG_WARN_NAMED(
-        "mock_generic_system",
-        "Parameter 'fake_gpio_commands' has been deprecated from usage. Use"
-        "'mock_gpio_commands' instead.");
-    }
-    else
-    {
-      use_mock_gpio_command_interfaces_ = false;
-    }
+    use_mock_gpio_command_interfaces_ = false;
   }
 
   // check if there is parameter that disables commands
@@ -707,7 +681,6 @@ void GenericSystem::initialize_storage_vectors(
   }
 
   // Initialize with values from URDF
-  bool print_hint = false;
   for (auto i = 0u; i < component_infos.size(); i++)
   {
     const auto & component = component_infos[i];
@@ -725,33 +698,9 @@ void GenericSystem::initialize_storage_vectors(
         {
           states[index][i] = parse_double(interface.initial_value);
         }
-        else
-        {
-          // Initialize the value in old way with warning message
-          auto it2 = component.parameters.find("initial_" + interface.name);
-          if (it2 != component.parameters.end())
-          {
-            states[index][i] = parse_double(it2->second);
-            print_hint = true;
-          }
-          else
-          {
-            print_hint = true;
-          }
-        }
       }
     }
   }
-  if (print_hint)
-  {
-    RCUTILS_LOG_WARN_ONCE_NAMED(
-      "mock_generic_system",
-      "Parsing of optional initial interface values failed or uses a deprecated format. Add "
-      "initial values for every state interface in the ros2_control.xacro. For example: \n"
-      "<state_interface name=\"velocity\"> \n"
-      "  <param name=\"initial_value\">0.0</param> \n"
-      "</state_interface>");
-  }
 }
 
 template <typename InterfaceType>