Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Issue 339: Implement parse_bool and refactor a few #1014

Merged
merged 5 commits into from
May 10, 2023
Merged

Issue 339: Implement parse_bool and refactor a few #1014

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
cf9aab6
Issue_339: Implement parse_bool and refactor a few
May 9, 2023
3e02b55
Merge branch 'master' into 339_parse_bool
GreatAlexander May 9, 2023
e0a439a
Fix compilation
bmagyar May 9, 2023
ae12b90
Refactor yet another method and fix include
May 10, 2023
af3a82b
don't crash on no tag
bmagyar May 10, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions hardware_interface/include/hardware_interface/component_parser.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
bmagyar marked this conversation as resolved.
Show resolved Hide resolved

} // namespace hardware_interface
#endif // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
7 changes: 6 additions & 1 deletion hardware_interface/src/component_parser.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,7 @@ std::string parse_data_type_attribute(const tinyxml2::XMLElement * elem)
bool parse_is_async_attribute(const tinyxml2::XMLElement * elem)
{
const tinyxml2::XMLAttribute * attr = elem->FindAttribute(kIsAsyncAttribute);
return attr ? strcasecmp(attr->Value(), "true") == 0 : false;
return attr ? parse_bool(attr->Value()) : false;
}

/// Search XML snippet from URDF for parameters.
Expand Down Expand Up @@ -612,4 +612,9 @@ 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
9 changes: 4 additions & 5 deletions hardware_interface/src/mock_components/generic_system.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <string>
#include <vector>

#include "hardware_interface/component_parser.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rcutils/logging_macros.h"

Expand Down Expand Up @@ -74,16 +75,15 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
auto it = info_.hardware_parameters.find("mock_sensor_commands");
if (it != info_.hardware_parameters.end())
{
// TODO(anyone): change this to parse_bool() (see ros2_control#339)
use_mock_sensor_command_interfaces_ = it->second == "true" || it->second == "True";
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_ = it->second == "true" || it->second == "True";
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"
Expand All @@ -99,8 +99,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
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
{
Expand Down