ros-controls · bmagyar · Dec 5, 2020 · Dec 5, 2020
diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
@@ -21,11 +21,11 @@ find_package(TinyXML2 REQUIRED)
 add_library(
   hardware_interface
   SHARED
-  src/components/actuator.cpp
-  src/components/sensor.cpp
-  src/components/system.cpp
+  src/actuator.cpp
   src/component_parser.cpp
   src/resource_manager.cpp
+  src/sensor.cpp
+  src/system.cpp
 )
 target_include_directories(
   hardware_interface

diff --git a/...ardware_interface/components/actuator.hpp → ...e/include/hardware_interface/actuator.hpp b/...ardware_interface/components/actuator.hpp → ...e/include/hardware_interface/actuator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_
+#ifndef HARDWARE_INTERFACE__ACTUATOR_HPP_
+#define HARDWARE_INTERFACE__ACTUATOR_HPP_
 
 #include <memory>
 #include <string>
@@ -27,8 +27,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 class ActuatorInterface;
 
@@ -75,6 +73,5 @@ class Actuator final
   std::unique_ptr<ActuatorInterface> impl_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_HPP_
+#endif  // HARDWARE_INTERFACE__ACTUATOR_HPP_
diff --git a/...terface/components/actuator_interface.hpp → ...hardware_interface/actuator_interface.hpp b/...terface/components/actuator_interface.hpp → ...hardware_interface/actuator_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
@@ -26,8 +26,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 /**
   * \brief Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
@@ -129,6 +127,5 @@ class ActuatorInterface
   return_type write() = 0;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__ACTUATOR_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
diff --git a/...e_interface/components/base_interface.hpp → ...ude/hardware_interface/base_interface.hpp b/...e_interface/components/base_interface.hpp → ...ude/hardware_interface/base_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__BASE_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__BASE_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__BASE_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__BASE_INTERFACE_HPP_
 
 #include <string>
 
@@ -23,8 +23,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 template<class InterfaceType>
 class BaseInterface : public InterfaceType
@@ -57,7 +55,6 @@ class BaseInterface : public InterfaceType
   status status_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
 
-#endif  // HARDWARE_INTERFACE__COMPONENTS__BASE_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__BASE_INTERFACE_HPP_
diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -28,13 +28,9 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 class ActuatorInterface;
 class SensorInterface;
 class SystemInterface;
-}  // namespace components
-
 class ResourceStorage;
 
 class ResourceManager
@@ -152,8 +148,7 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param actuator pointer to the actuator interface.
    */
-  void import_component(
-    std::unique_ptr<components::ActuatorInterface> actuator);
+  void import_component(std::unique_ptr<ActuatorInterface> actuator);
 
   /// Return the number of loaded sensor components.
   /**
@@ -171,7 +166,7 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param sensor pointer to the sensor interface.
    */
-  void import_component(std::unique_ptr<components::SensorInterface> sensor);
+  void import_component(std::unique_ptr<SensorInterface> sensor);
 
   /// Return the number of loaded system components.
   /**
@@ -189,7 +184,7 @@ class ResourceManager
    * externally and prior to the call to import.
    * \param system pointer to the system interface.
    */
-  void import_component(std::unique_ptr<components::SystemInterface> system);
+  void import_component(std::unique_ptr<SystemInterface> system);
 
   /// Return status for all components.
   /**

diff --git a/.../hardware_interface/components/sensor.hpp → ...ace/include/hardware_interface/sensor.hpp b/.../hardware_interface/components/sensor.hpp → ...ace/include/hardware_interface/sensor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SENSOR_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SENSOR_HPP_
+#ifndef HARDWARE_INTERFACE__SENSOR_HPP_
+#define HARDWARE_INTERFACE__SENSOR_HPP_
 
 #include <memory>
 #include <string>
@@ -28,8 +28,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 class SensorInterface;
 
@@ -70,6 +68,5 @@ class Sensor final
   std::unique_ptr<SensorInterface> impl_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SENSOR_HPP_
+#endif  // HARDWARE_INTERFACE__SENSOR_HPP_
diff --git a/...interface/components/sensor_interface.hpp → ...e/hardware_interface/sensor_interface.hpp b/...interface/components/sensor_interface.hpp → ...e/hardware_interface/sensor_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SENSOR_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SENSOR_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
@@ -27,8 +27,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 /**
   * \brief Virtual Class to implement when integrating a stand-alone sensor into ros2_control.
@@ -108,6 +106,5 @@ class SensorInterface
   return_type read() = 0;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SENSOR_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
diff --git a/.../hardware_interface/components/system.hpp → ...ace/include/hardware_interface/system.hpp b/.../hardware_interface/components/system.hpp → ...ace/include/hardware_interface/system.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SYSTEM_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SYSTEM_HPP_
+#ifndef HARDWARE_INTERFACE__SYSTEM_HPP_
+#define HARDWARE_INTERFACE__SYSTEM_HPP_
 
 #include <memory>
 #include <string>
@@ -28,8 +28,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 class SystemInterface;
 
@@ -74,6 +72,5 @@ class System final
   std::unique_ptr<SystemInterface> impl_;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SYSTEM_HPP_
+#endif  // HARDWARE_INTERFACE__SYSTEM_HPP_
diff --git a/...interface/components/system_interface.hpp → ...e/hardware_interface/system_interface.hpp b/...interface/components/system_interface.hpp → ...e/hardware_interface/system_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__COMPONENTS__SYSTEM_INTERFACE_HPP_
-#define HARDWARE_INTERFACE__COMPONENTS__SYSTEM_INTERFACE_HPP_
+#ifndef HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
+#define HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
@@ -27,8 +27,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 /**
 * \brief Virtual Class to implement when integrating a complex system into ros2_control.
@@ -132,6 +130,5 @@ class SystemInterface
   return_type write() = 0;
 };
 
-}  // namespace components
 }  // namespace hardware_interface
-#endif  // HARDWARE_INTERFACE__COMPONENTS__SYSTEM_INTERFACE_HPP_
+#endif  // HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
diff --git a/...are_interface/src/components/actuator.cpp → hardware_interface/src/actuator.cpp b/...are_interface/src/components/actuator.cpp → hardware_interface/src/actuator.cpp
@@ -18,8 +18,8 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/components/actuator.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
+#include "hardware_interface/actuator.hpp"
+#include "hardware_interface/actuator_interface.hpp"
 
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
@@ -28,8 +28,6 @@
 
 namespace hardware_interface
 {
-namespace components
-{
 
 Actuator::Actuator(std::unique_ptr<ActuatorInterface> impl)
 : impl_(std::move(impl))
@@ -82,5 +80,4 @@ return_type Actuator::write()
   return impl_->write();
 }
 
-}  // namespace components
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -20,12 +20,12 @@
 #include <unordered_map>
 #include <utility>
 
-#include "hardware_interface/components/actuator.hpp"
-#include "hardware_interface/components/actuator_interface.hpp"
-#include "hardware_interface/components/sensor.hpp"
-#include "hardware_interface/components/sensor_interface.hpp"
-#include "hardware_interface/components/system.hpp"
-#include "hardware_interface/components/system_interface.hpp"
+#include "hardware_interface/actuator.hpp"
+#include "hardware_interface/actuator_interface.hpp"
+#include "hardware_interface/sensor.hpp"
+#include "hardware_interface/sensor_interface.hpp"
+#include "hardware_interface/system.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/component_parser.hpp"
 
 #include "pluginlib/class_loader.hpp"
@@ -38,11 +38,11 @@ class ResourceStorage
   static constexpr const char * pkg_name = "hardware_interface";
 
   static constexpr const char * actuator_interface_name =
-    "hardware_interface::components::ActuatorInterface";
+    "hardware_interface::ActuatorInterface";
   static constexpr const char * sensor_interface_name =
-    "hardware_interface::components::SensorInterface";
+    "hardware_interface::SensorInterface";
   static constexpr const char * system_interface_name =
-    "hardware_interface::components::SystemInterface";
+    "hardware_interface::SystemInterface";
 
 public:
   ResourceStorage()
@@ -98,7 +98,7 @@ class ResourceStorage
     const HardwareInfo & hardware_info,
     std::unordered_map<std::string, bool> & claimed_command_interface_map)
   {
-    initialize_hardware<components::Actuator, components::ActuatorInterface>(
+    initialize_hardware<Actuator, ActuatorInterface>(
       hardware_info, actuator_loader_, actuators_);
     if (return_type::OK != actuators_.back().configure(hardware_info)) {
       throw std::runtime_error(std::string("failed to configure ") + hardware_info.name);
@@ -109,7 +109,7 @@ class ResourceStorage
 
   void initialize_sensor(const HardwareInfo & hardware_info)
   {
-    initialize_hardware<components::Sensor, components::SensorInterface>(
+    initialize_hardware<Sensor, SensorInterface>(
       hardware_info, sensor_loader_, sensors_);
     if (return_type::OK != sensors_.back().configure(hardware_info)) {
       throw std::runtime_error(std::string("failed to configure ") + hardware_info.name);
@@ -121,7 +121,7 @@ class ResourceStorage
     const HardwareInfo & hardware_info,
     std::unordered_map<std::string, bool> & claimed_command_interface_map)
   {
-    initialize_hardware<components::System, components::SystemInterface>(
+    initialize_hardware<System, SystemInterface>(
       hardware_info, system_loader_, systems_);
     if (return_type::OK != systems_.back().configure(hardware_info)) {
       throw std::runtime_error(std::string("failed to configure ") + hardware_info.name);
@@ -131,13 +131,13 @@ class ResourceStorage
   }
 
   // hardware plugins
-  pluginlib::ClassLoader<components::ActuatorInterface> actuator_loader_;
-  pluginlib::ClassLoader<components::SensorInterface> sensor_loader_;
-  pluginlib::ClassLoader<components::SystemInterface> system_loader_;
+  pluginlib::ClassLoader<ActuatorInterface> actuator_loader_;
+  pluginlib::ClassLoader<SensorInterface> sensor_loader_;
+  pluginlib::ClassLoader<SystemInterface> system_loader_;
 
-  std::vector<components::Actuator> actuators_;
-  std::vector<components::Sensor> sensors_;
-  std::vector<components::System> systems_;
+  std::vector<Actuator> actuators_;
+  std::vector<Sensor> sensors_;
+  std::vector<System> systems_;
 
   std::unordered_map<std::string, status> hardware_status_map_;
 
@@ -257,10 +257,10 @@ bool ResourceManager::command_interface_exists(const std::string & key) const
          resource_storage_->command_interface_map_.end();
 }
 
-void ResourceManager::import_component(std::unique_ptr<components::ActuatorInterface> actuator)
+void ResourceManager::import_component(std::unique_ptr<ActuatorInterface> actuator)
 {
   resource_storage_->actuators_.emplace_back(
-    components::Actuator(std::move(actuator)));
+    Actuator(std::move(actuator)));
   resource_storage_->import_state_interfaces(resource_storage_->actuators_.back());
   resource_storage_->import_command_interfaces(
     resource_storage_->actuators_.back(), claimed_command_interface_map_);
@@ -271,9 +271,9 @@ size_t ResourceManager::actuator_components_size() const
   return resource_storage_->actuators_.size();
 }
 
-void ResourceManager::import_component(std::unique_ptr<components::SensorInterface> sensor)
+void ResourceManager::import_component(std::unique_ptr<SensorInterface> sensor)
 {
-  resource_storage_->sensors_.emplace_back(components::Sensor(std::move(sensor)));
+  resource_storage_->sensors_.emplace_back(Sensor(std::move(sensor)));
   resource_storage_->import_state_interfaces(resource_storage_->sensors_.back());
 }
 
@@ -282,9 +282,9 @@ size_t ResourceManager::sensor_components_size() const
   return resource_storage_->sensors_.size();
 }
 
-void ResourceManager::import_component(std::unique_ptr<components::SystemInterface> system)
+void ResourceManager::import_component(std::unique_ptr<SystemInterface> system)
 {
-  resource_storage_->systems_.emplace_back(components::System(std::move(system)));
+  resource_storage_->systems_.emplace_back(System(std::move(system)));
   resource_storage_->import_state_interfaces(resource_storage_->systems_.back());
   resource_storage_->import_command_interfaces(
     resource_storage_->systems_.back(), claimed_command_interface_map_);