From 055f759fbb0c442216ee534025a24e560351890d Mon Sep 17 00:00:00 2001
From: Alejandro Bordallo <alex.bordallo@gmail.com>
Date: Wed, 10 May 2023 23:19:00 +0100
Subject: [PATCH] Implement parse_bool and refactor a few (#1014)

(cherry picked from commit c9709f3ce2ebf31ab5ea2c25829c422f7465f0d7)

# Conflicts:
#	hardware_interface/src/component_parser.cpp
#	hardware_interface/src/mock_components/generic_system.cpp
---
 .../hardware_interface/component_parser.hpp   |  3 +++
 hardware_interface/src/component_parser.cpp   | 22 ++++++++++++++++
 .../src/mock_components/generic_system.cpp    | 25 +++++++++++++++++--
 3 files changed, 48 insertions(+), 2 deletions(-)

diff --git a/hardware_interface/include/hardware_interface/component_parser.hpp b/hardware_interface/include/hardware_interface/component_parser.hpp
index 1d0f07d94b..9f81a2a863 100644
--- a/hardware_interface/include/hardware_interface/component_parser.hpp
+++ b/hardware_interface/include/hardware_interface/component_parser.hpp
@@ -33,5 +33,8 @@ namespace hardware_interface
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
+HARDWARE_INTERFACE_PUBLIC
+bool parse_bool(const std::string & bool_string);
+
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index b8d20e763d..501595b40b 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -206,6 +206,23 @@ std::string parse_data_type_attribute(const tinyxml2::XMLElement * elem)
   return data_type;
 }
 
+<<<<<<< HEAD
+=======
+/// Parse is_async attribute
+/**
+ * Parses an XMLElement and returns the value of the is_async attribute.
+ * Defaults to "false" if not specified.
+ *
+ * \param[in] elem XMLElement that has the data_type attribute.
+ * \return boolean specifying the if the value read was true or false.
+ */
+bool parse_is_async_attribute(const tinyxml2::XMLElement * elem)
+{
+  const tinyxml2::XMLAttribute * attr = elem->FindAttribute(kIsAsyncAttribute);
+  return attr ? parse_bool(attr->Value()) : false;
+}
+
+>>>>>>> c9709f3 (Implement parse_bool and refactor a few (#1014))
 /// Search XML snippet from URDF for parameters.
 /**
  * \param[in] params_it pointer to the iterator where parameters info should be found
@@ -590,4 +607,9 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   return hardware_info;
 }
 
+bool parse_bool(const std::string & bool_string)
+{
+  return bool_string == "true" || bool_string == "True";
+}
+
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index bf9a9644df..b4cf17625e 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -24,6 +24,7 @@
 #include <string>
 #include <vector>
 
+#include "hardware_interface/component_parser.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rcutils/logging_macros.h"
 
@@ -61,20 +62,40 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   auto it = info_.hardware_parameters.find("fake_sensor_commands");
   if (it != info_.hardware_parameters.end())
   {
+<<<<<<< HEAD
     // TODO(anyone): change this to parse_bool() (see ros2_control#339)
     use_fake_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
   }
   else
   {
     use_fake_sensor_command_interfaces_ = false;
+=======
+    use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
+  }
+  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(
+        "fake_generic_system",
+        "Parameter 'fake_sensor_commands' has been deprecated from usage. Use"
+        "'mock_sensor_commands' instead.");
+    }
+    else
+    {
+      use_mock_sensor_command_interfaces_ = false;
+    }
+>>>>>>> c9709f3 (Implement parse_bool and refactor a few (#1014))
   }
 
   // check if to create fake command interface for gpio
   it = info_.hardware_parameters.find("fake_gpio_commands");
   if (it != info_.hardware_parameters.end())
   {
-    // TODO(anyone): change this to parse_bool() (see ros2_control#339)
-    use_fake_gpio_command_interfaces_ = it->second == "true" || it->second == "True";
+    use_fake_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
   }
   else
   {