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Use portable version for string-to-double conversion (backport #1257) #1268

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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,5 @@ 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_
52 changes: 52 additions & 0 deletions hardware_interface/include/hardware_interface/lexical_casts.hpp
Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
// Copyright 2023 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef HARDWARE_INTERFACE__LEXICAL_CASTS_HPP_
#define HARDWARE_INTERFACE__LEXICAL_CASTS_HPP_

#include <locale>
#include <sstream>
#include <stdexcept>
#include <string>

namespace hardware_interface
{

/** \brief Helper function to convert a std::string to double in a locale-independent way.
\throws std::invalid_argument if not a valid number
* from
https://github.com/ros-planning/srdfdom/blob/ad17b8d25812f752c397a6011cec64aeff090c46/src/model.cpp#L53
*/
double stod(const std::string & s)
{
// convert from string using no locale
std::istringstream stream(s);
stream.imbue(std::locale::classic());
double result;
stream >> result;
if (stream.fail() || !stream.eof())
{
throw std::invalid_argument("Failed converting string to real number");
}
return result;
}

bool parse_bool(const std::string & bool_string)
{
return bool_string == "true" || bool_string == "True";
}

} // namespace hardware_interface

#endif // HARDWARE_INTERFACE__LEXICAL_CASTS_HPP_
8 changes: 2 additions & 6 deletions hardware_interface/src/component_parser.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

#include "hardware_interface/component_parser.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/lexical_casts.hpp"

namespace
{
Expand Down Expand Up @@ -135,7 +136,7 @@ double get_parameter_value_or(
const auto tag_text = params_it->GetText();
if (tag_text)
{
return std::stod(tag_text);
return hardware_interface::stod(tag_text);
}
}
}
Expand Down Expand Up @@ -593,9 +594,4 @@ 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";
}

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} // namespace hardware_interface
9 changes: 5 additions & 4 deletions hardware_interface/src/mock_components/generic_system.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <vector>

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

Expand Down Expand Up @@ -136,7 +137,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
it = info_.hardware_parameters.find("position_state_following_offset");
if (it != info_.hardware_parameters.end())
{
position_state_following_offset_ = std::stod(it->second);
position_state_following_offset_ = hardware_interface::stod(it->second);
it = info_.hardware_parameters.find("custom_interface_with_following_offset");
if (it != info_.hardware_parameters.end())
{
Expand Down Expand Up @@ -182,7 +183,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
auto param_it = joint.parameters.find("multiplier");
if (param_it != joint.parameters.end())
{
mimic_joint.multiplier = std::stod(joint.parameters.at("multiplier"));
mimic_joint.multiplier = hardware_interface::stod(joint.parameters.at("multiplier"));
}
mimic_joints_.push_back(mimic_joint);
}
Expand Down Expand Up @@ -710,15 +711,15 @@ void GenericSystem::initialize_storage_vectors(
// Check the initial_value param is used
if (!interface.initial_value.empty())
{
states[index][i] = std::stod(interface.initial_value);
states[index][i] = hardware_interface::stod(interface.initial_value);
}
else
{
// Initialize the value in old way with warning message
auto it2 = component.parameters.find("initial_" + interface.name);
if (it2 != component.parameters.end())
{
states[index][i] = std::stod(it2->second);
states[index][i] = hardware_interface::stod(it2->second);
print_hint = true;
}
else
Expand Down
24 changes: 24 additions & 0 deletions hardware_interface/test/test_component_parser.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -500,6 +500,30 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_only)
EXPECT_EQ(transmission.parameters.at("additional_special_parameter"), "1337");
}

TEST_F(TestComponentParser, successfully_parse_locale_independent_double)
{
// Set to locale with comma-separated decimals
std::setlocale(LC_NUMERIC, "de_DE.UTF-8");

std::string urdf_to_test = std::string(ros2_control_test_assets::urdf_head) +
ros2_control_test_assets::valid_urdf_ros2_control_actuator_only +
ros2_control_test_assets::urdf_tail;

const auto control_hardware = parse_control_resources_from_urdf(urdf_to_test);
ASSERT_THAT(control_hardware, SizeIs(1));
const auto hardware_info = control_hardware.at(0);

EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "1.13");

ASSERT_THAT(hardware_info.transmissions, SizeIs(1));
const auto transmission = hardware_info.transmissions[0];
EXPECT_THAT(transmission.joints, SizeIs(1));
const auto joint = transmission.joints[0];

// Test that we still parse doubles using dot notation
EXPECT_THAT(joint.mechanical_reduction, DoubleEq(325.949));
}

TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio)
{
std::string urdf_to_test =
Expand Down
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