Issue 339: Implement parse_bool and refactor a few (backport #1014)

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_

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

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
   {