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Issue 339: Implement parse_bool and refactor a few #1014

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merged 5 commits into from
May 10, 2023
Merged

Issue 339: Implement parse_bool and refactor a few #1014

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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
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3 changes: 3 additions & 0 deletions hardware_interface/include/hardware_interface/component_parser.hpp
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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);
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} // namespace hardware_interface
#endif // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
7 changes: 6 additions & 1 deletion hardware_interface/src/component_parser.cpp
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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 parse_bool(attr->Value());
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}

/// 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
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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