Issue_339: Implement parse_bool and refactor a few

ros-controls · May 9, 2023 · dd7aeff · dd7aeff
1 parent cb92c50
commit dd7aeff
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 5 deletions.
diff --git a/hardware_interface/include/hardware_interface/component_parser.hpp b/hardware_interface/include/hardware_interface/component_parser.hpp
@@ -33,5 +33,7 @@ namespace hardware_interface
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
+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
@@ -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
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
@@ -74,16 +74,15 @@ 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_ = 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_ = parse_bool(it->second);
       RCUTILS_LOG_WARN_NAMED(
         "fake_generic_system",
         "Parameter 'fake_sensor_commands' has been deprecated from usage. Use"
@@ -99,8 +98,7 @@ 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 = parse_bool(it->second);
   }
   else
   {