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

* Use consequently 'mock' instead of 'fake'. (#1026)

(cherry picked from commit 7174a1d)

# Conflicts:
#	hardware_interface/include/mock_components/generic_system.hpp
#	hardware_interface/src/mock_components/generic_system.cpp
#	hardware_interface/test/mock_components/test_generic_system.cpp

---------

Co-authored-by: Dr. Denis <[email protected]>

Author: mergify[bot]

hardware_interface/include/mock_components/generic_system.hpp

@@ -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_;
 
@@ -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_;

hardware_interface/src/mock_components/generic_system.cpp

@@ -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
@@ -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());
     }
@@ -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)
@@ -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
@@ -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!");
@@ -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
   {