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

[MockHardware] Use consequently 'mock' instead of 'fake'. (backport #1026) – And deprecate parameters. #1051

Merged
merged 7 commits into from
Jun 7, 2023
Merged

[MockHardware] Use consequently 'mock' instead of 'fake'. (backport #1026) – And deprecate parameters. #1051

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
b478fe5
Use consequently 'mock' instead of 'fake'. (#1026)
destogl May 19, 2023
50a9a58
resolve conflict
destogl Jun 5, 2023
d4004e3
Resolve conflicts
destogl Jun 5, 2023
ab22cf2
Update test_generic_system.cpp
destogl Jun 5, 2023
47d43bc
Update generic_system.cpp
destogl Jun 6, 2023
0dd3b1f
Test fixes in referencing.
destogl Jun 7, 2023
69f1902
Fix formatting.
destogl Jun 7, 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
8 changes: 4 additions & 4 deletions hardware_interface/include/mock_components/generic_system.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -81,12 +81,12 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste

std::vector<std::string> sensor_interfaces_;
/// The size of this vector is (sensor_interfaces_.size() x nr_joints)
std::vector<std::vector<double>> sensor_fake_commands_;
std::vector<std::vector<double>> sensor_mock_commands_;
std::vector<std::vector<double>> sensor_states_;

std::vector<std::string> gpio_interfaces_;
/// The size of this vector is (gpio_interfaces_.size() x nr_joints)
std::vector<std::vector<double>> gpio_fake_commands_;
std::vector<std::vector<double>> gpio_mock_commands_;
std::vector<std::vector<double>> gpio_commands_;
std::vector<std::vector<double>> gpio_states_;

Expand All @@ -108,8 +108,8 @@ class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::Syste
std::vector<std::string> & interfaces, std::vector<std::vector<double>> & storage,
std::vector<InterfaceType> & target_interfaces, bool using_state_interfaces);

bool use_fake_gpio_command_interfaces_;
bool use_fake_sensor_command_interfaces_;
bool use_mock_gpio_command_interfaces_;
bool use_mock_sensor_command_interfaces_;

double position_state_following_offset_;
std::string custom_interface_with_following_offset_;
Expand Down
74 changes: 50 additions & 24 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 @@ -58,26 +58,52 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}
};

// check if to create fake command interface for sensor
auto it = info_.hardware_parameters.find("fake_sensor_commands");
// check if to create mock command interface for sensor
auto it = info_.hardware_parameters.find("mock_sensor_commands");
if (it != info_.hardware_parameters.end())
{
use_fake_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
}
else
{
use_fake_sensor_command_interfaces_ = false;
// 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;
}
}

// check if to create fake command interface for gpio
it = info_.hardware_parameters.find("fake_gpio_commands");
// check if to create mock command interface for gpio
it = info_.hardware_parameters.find("mock_gpio_commands");
if (it != info_.hardware_parameters.end())
{
use_fake_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
use_mock_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
}
else
{
use_fake_gpio_command_interfaces_ = false;
// 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;
}
}

// process parameters about state following
Expand Down Expand Up @@ -162,14 +188,14 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
index_custom_interface_with_following_offset_ =
std::distance(other_interfaces_.begin(), if_it);
RCUTILS_LOG_INFO_NAMED(
"fake_generic_system", "Custom interface with following offset '%s' found at index: %zu.",
"mock_generic_system", "Custom interface with following offset '%s' found at index: %zu.",
custom_interface_with_following_offset_.c_str(),
index_custom_interface_with_following_offset_);
}
else
{
RCUTILS_LOG_WARN_NAMED(
"fake_generic_system",
"mock_generic_system",
"Custom interface with following offset '%s' does not exist. Offset will not be applied",
custom_interface_with_following_offset_.c_str());
}
Expand All @@ -188,7 +214,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
}
}
initialize_storage_vectors(
sensor_fake_commands_, sensor_states_, sensor_interfaces_, info_.sensors);
sensor_mock_commands_, sensor_states_, sensor_interfaces_, info_.sensors);

// search for gpio interfaces
for (const auto & gpio : info_.gpios)
Expand All @@ -200,10 +226,10 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
populate_non_standard_interfaces(gpio.state_interfaces, gpio_interfaces_);
}

// Fake gpio command interfaces
if (use_fake_gpio_command_interfaces_)
// Mock gpio command interfaces
if (use_mock_gpio_command_interfaces_)
{
initialize_storage_vectors(gpio_fake_commands_, gpio_states_, gpio_interfaces_, info_.gpios);
initialize_storage_vectors(gpio_mock_commands_, gpio_states_, gpio_interfaces_, info_.gpios);
}
// Real gpio command interfaces
else
Expand Down Expand Up @@ -283,22 +309,22 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
}
}

// Fake sensor command interfaces
if (use_fake_sensor_command_interfaces_)
// Mock sensor command interfaces
if (use_mock_sensor_command_interfaces_)
{
if (!populate_interfaces(
info_.sensors, sensor_interfaces_, sensor_fake_commands_, command_interfaces, true))
info_.sensors, sensor_interfaces_, sensor_mock_commands_, command_interfaces, true))
{
throw std::runtime_error(
"Interface is not found in the standard nor other list. This should never happen!");
}
}

// Fake gpio command interfaces (consider all state interfaces for command interfaces)
if (use_fake_gpio_command_interfaces_)
// Mock gpio command interfaces (consider all state interfaces for command interfaces)
if (use_mock_gpio_command_interfaces_)
{
if (!populate_interfaces(
info_.gpios, gpio_interfaces_, gpio_fake_commands_, command_interfaces, true))
info_.gpios, gpio_interfaces_, gpio_mock_commands_, command_interfaces, true))
{
throw std::runtime_error(
"Interface is not found in the gpio list. This should never happen!");
Expand Down Expand Up @@ -375,15 +401,15 @@ return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Dur
}
}

if (use_fake_sensor_command_interfaces_)
if (use_mock_sensor_command_interfaces_)
{
mirror_command_to_state(sensor_states_, sensor_fake_commands_);
mirror_command_to_state(sensor_states_, sensor_mock_commands_);
}

// do loopback on all gpio interfaces
if (use_fake_gpio_command_interfaces_)
if (use_mock_gpio_command_interfaces_)
{
mirror_command_to_state(gpio_states_, gpio_fake_commands_);
mirror_command_to_state(gpio_states_, gpio_mock_commands_);
}
else
{
Expand Down
Loading