changed naming of HumanDynamicsWrapper and HumanDynamicsRemapper

robotology · Oct 9, 2023 · 680ee40 · 680ee40
1 parent f6e5f94
commit 680ee40
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Showing 9 changed files with 62 additions and 62 deletions.
diff --git a/remappers/CMakeLists.txt b/remappers/CMakeLists.txt
@@ -2,6 +2,6 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 add_subdirectory(HumanStateRemapper)
-add_subdirectory(HumanDynamicsRemapper)
+add_subdirectory(HumanDynamics_nwc_yarp)
 add_subdirectory(HumanWrenchRemapper)
 add_subdirectory(WearableTargetsRemapper)
diff --git a/...pers/HumanDynamicsRemapper/CMakeLists.txt → ...ers/HumanDynamics_nwc_yarp/CMakeLists.txt b/...pers/HumanDynamicsRemapper/CMakeLists.txt → ...ers/HumanDynamics_nwc_yarp/CMakeLists.txt
@@ -1,29 +1,29 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_dynamics_remapper
-    TYPE hde::devices::HumanDynamicsRemapper
-    INCLUDE HumanDynamicsRemapper.h
+yarp_prepare_plugin(human_dynamics_nwc_yarp
+    TYPE hde::devices::HumanDynamics_nwc_yarp
+    INCLUDE HumanDynamics_nwc_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanDynamicsRemapper
-    HumanDynamicsRemapper.cpp
-    HumanDynamicsRemapper.h)
+yarp_add_plugin(HumanDynamics_nwc_yarp
+    HumanDynamics_nwc_yarp.cpp
+    HumanDynamics_nwc_yarp.h)
 
-target_include_directories(HumanDynamicsRemapper PUBLIC
+target_include_directories(HumanDynamics_nwc_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanDynamicsRemapper PUBLIC
+target_link_libraries(HumanDynamics_nwc_yarp PUBLIC
     IHumanDynamics
     HumanDynamicsMsg
     YARP::YARP_OS
     YARP::YARP_dev
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanDynamicsRemapper
+    TARGETS HumanDynamics_nwc_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}

diff --git a/...ynamicsRemapper/HumanDynamicsRemapper.cpp → ...amics_nwc_yarp/HumanDynamics_nwc_yarp.cpp b/...ynamicsRemapper/HumanDynamicsRemapper.cpp → ...amics_nwc_yarp/HumanDynamics_nwc_yarp.cpp
@@ -1,7 +1,7 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#include "HumanDynamicsRemapper.h"
+#include "HumanDynamics_nwc_yarp.h"
 
 #include <hde/msgs/HumanDynamics.h>
 
@@ -11,16 +11,16 @@
 #include <iostream>
 #include <mutex>
 
-const std::string RemapperName = "HumanDynamicsRemapper";
-const std::string LogPrefix = RemapperName + " :";
+const std::string ClientName = "HumanDynamics_nwc_yarp";
+const std::string LogPrefix = ClientName + " :";
 
 using namespace hde::devices;
 
 // ==============
 // IMPL AND UTILS
 // ==============
 
-class HumanDynamicsRemapper::impl
+class HumanDynamics_nwc_yarp::impl
 {
 public:
     std::mutex mtx;
@@ -34,18 +34,18 @@ class HumanDynamicsRemapper::impl
 };
 
 // =======================
-// IHUMANDYNAMICS REMAPPER
+// IHUMANDYNAMICS CLIENT
 // =======================
 
-HumanDynamicsRemapper::HumanDynamicsRemapper()
+HumanDynamics_nwc_yarp::HumanDynamics_nwc_yarp()
     : PeriodicThread(1)
     , pImpl{new impl()}
 {}
 
-HumanDynamicsRemapper::~HumanDynamicsRemapper() = default;
+HumanDynamics_nwc_yarp::~HumanDynamics_nwc_yarp() = default;
 
 // parsing the configuration file and connect ports
-bool HumanDynamicsRemapper::open(yarp::os::Searchable& config)
+bool HumanDynamics_nwc_yarp::open(yarp::os::Searchable& config)
 {
     // ===============================
     // CHECK THE CONFIGURATION OPTIONS
@@ -103,10 +103,10 @@ bool HumanDynamicsRemapper::open(yarp::os::Searchable& config)
     return true;
 }
 
-void HumanDynamicsRemapper::threadRelease()
+void HumanDynamics_nwc_yarp::threadRelease()
 {}
 
-bool HumanDynamicsRemapper::close()
+bool HumanDynamics_nwc_yarp::close()
 {
     pImpl->terminationCall = true;
 
@@ -117,13 +117,13 @@ bool HumanDynamicsRemapper::close()
     return true;
 }
 
-void HumanDynamicsRemapper::run()
+void HumanDynamics_nwc_yarp::run()
 {
     return;
 }
 
 // data are read from the port and saved in buffer variables
-void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
+void HumanDynamics_nwc_yarp::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     if(!pImpl->terminationCall) {
@@ -134,19 +134,19 @@ void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
 }
 
 // method of IHumanDynamics interface expose the buffer variables data
-std::vector<std::string> HumanDynamicsRemapper::getJointNames() const
+std::vector<std::string> HumanDynamics_nwc_yarp::getJointNames() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointNames;
 }
 
-size_t HumanDynamicsRemapper::getNumberOfJoints() const
+size_t HumanDynamics_nwc_yarp::getNumberOfJoints() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointTorques.size();
 }
 
-std::vector<double> HumanDynamicsRemapper::getJointTorques() const
+std::vector<double> HumanDynamics_nwc_yarp::getJointTorques() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointTorques;

diff --git a/...nDynamicsRemapper/HumanDynamicsRemapper.h → ...ynamics_nwc_yarp/HumanDynamics_nwc_yarp.h b/...nDynamicsRemapper/HumanDynamicsRemapper.h → ...ynamics_nwc_yarp/HumanDynamics_nwc_yarp.h
@@ -1,8 +1,8 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#ifndef HDE_DEVICES_HUMANDYNAMICSREMAPPER
-#define HDE_DEVICES_HUMANDYNAMICSREMAPPER
+#ifndef HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
+#define HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
 
 #include <hde/interfaces/IHumanDynamics.h> 
 
@@ -17,10 +17,10 @@ namespace hde::msgs {
     class HumanDynamics;
 } // namespace hde::msgs
 namespace hde::devices {
-    class HumanDynamicsRemapper;
+    class HumanDynamics_nwc_yarp;
 } // namespace hde::devices
 
-class hde::devices::HumanDynamicsRemapper final
+class hde::devices::HumanDynamics_nwc_yarp final
     : public yarp::dev::DeviceDriver
     // inherite from the interface to be exposed
     , public hde::interfaces::IHumanDynamics
@@ -34,8 +34,8 @@ class hde::devices::HumanDynamicsRemapper final
     std::unique_ptr<impl> pImpl;
 
 public:
-    HumanDynamicsRemapper();
-    ~HumanDynamicsRemapper() override;
+    HumanDynamics_nwc_yarp();
+    ~HumanDynamics_nwc_yarp() override;
 
 
 
@@ -58,5 +58,5 @@ class hde::devices::HumanDynamicsRemapper final
     std::vector<double> getJointTorques() const override;
 };
 
-#endif // HDE_DEVICES_HUMANDYNAMICSREMAPPER
+#endif // HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
 
diff --git a/...per/conf/HumanDynamicsRemapperExample.xml → ...arp/conf/HumanDynamicsRemapperExample.xml b/...per/conf/HumanDynamicsRemapperExample.xml → ...arp/conf/HumanDynamicsRemapperExample.xml
@@ -3,8 +3,8 @@
 <robot name="Human-Dynamics-Remapper" build=0 portprefix="">
 
 
-    <device type="human_dynamics_remapper" name="HumanDynamicsRemapper">
-       <param name="humanDynamicsDataPort">/HDE/HumanDynamicsWrapper/torques:o</param>
+    <device type="human_dynamics_remapper" name="HumanDynamics_nwc_yarp">
+       <param name="humanDynamicsDataPort">/HDE/HumanDynamics_nwc_yarp/torques:o</param>
     </device>
 
 

diff --git a/wrappers/CMakeLists.txt b/wrappers/CMakeLists.txt
@@ -2,6 +2,6 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 add_subdirectory(HumanStateWrapper)
-add_subdirectory(HumanDynamicsWrapper)
+add_subdirectory(HumanDynamics_nws_yarp)
 add_subdirectory(HumanWrenchWrapper)
 add_subdirectory(WearableTargetsWrapper)
diff --git a/wrappers/HumanDynamicsWrapper/CMakeLists.txt → ...ers/HumanDynamics_nws_yarp/CMakeLists.txt b/wrappers/HumanDynamicsWrapper/CMakeLists.txt → ...ers/HumanDynamics_nws_yarp/CMakeLists.txt
@@ -1,29 +1,29 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_dynamics_wrapper
-    TYPE hde::wrappers::HumanDynamicsWrapper
-    INCLUDE HumanDynamicsWrapper.h
+yarp_prepare_plugin(human_dynamics_nws_yarp
+    TYPE hde::wrappers::HumanDynamics_nws_yarp
+    INCLUDE HumanDynamics_nws_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanDynamicsWrapper
-    HumanDynamicsWrapper.cpp
-    HumanDynamicsWrapper.h)
+yarp_add_plugin(HumanDynamics_nws_yarp
+    HumanDynamics_nws_yarp.cpp
+    HumanDynamics_nws_yarp.h)
 
-target_include_directories(HumanDynamicsWrapper PUBLIC
+target_include_directories(HumanDynamics_nws_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanDynamicsWrapper PUBLIC
+target_link_libraries(HumanDynamics_nws_yarp PUBLIC
     IHumanDynamics
     HumanDynamicsMsg
     YARP::YARP_OS
     YARP::YARP_dev
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanDynamicsWrapper
+    TARGETS HumanDynamics_nws_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}

diff --git a/...nDynamicsWrapper/HumanDynamicsWrapper.cpp → ...amics_nws_yarp/HumanDynamics_nws_yarp.cpp b/...nDynamicsWrapper/HumanDynamicsWrapper.cpp → ...amics_nws_yarp/HumanDynamics_nws_yarp.cpp
@@ -1,7 +1,7 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#include "HumanDynamicsWrapper.h"
+#include "HumanDynamics_nws_yarp.h"
 #include <hde/interfaces/IHumanDynamics.h>
 #include <hde/msgs/HumanDynamics.h>
 
@@ -11,28 +11,28 @@
 
 #include <mutex>
 
-const std::string DeviceName = "HumanDynamicsWrapper";
+const std::string DeviceName = "HumanDynamics_nws_yarp";
 const std::string LogPrefix = DeviceName + " :";
 constexpr double DefaultPeriod = 0.01;
 
 using namespace hde::wrappers;
 
-class HumanDynamicsWrapper::impl
+class HumanDynamics_nws_yarp::impl
 {
 public:
     mutable std::mutex mutex;
     hde::interfaces::IHumanDynamics* humanDynamics = nullptr;
     yarp::os::BufferedPort<hde::msgs::HumanDynamics> outputPort;
 };
 
-HumanDynamicsWrapper::HumanDynamicsWrapper()
+HumanDynamics_nws_yarp::HumanDynamics_nws_yarp()
     : PeriodicThread(DefaultPeriod)
     , pImpl{new impl()}
 {}
 
-HumanDynamicsWrapper::~HumanDynamicsWrapper() {}
+HumanDynamics_nws_yarp::~HumanDynamics_nws_yarp() {}
 
-bool HumanDynamicsWrapper::open(yarp::os::Searchable& config)
+bool HumanDynamics_nws_yarp::open(yarp::os::Searchable& config)
 {
     // ===============================
     // CHECK THE CONFIGURATION OPTIONS
@@ -72,13 +72,13 @@ bool HumanDynamicsWrapper::open(yarp::os::Searchable& config)
     return true;
 }
 
-bool HumanDynamicsWrapper::close()
+bool HumanDynamics_nws_yarp::close()
 {
     pImpl->outputPort.close();
     return true;
 }
 
-void HumanDynamicsWrapper::run()
+void HumanDynamics_nws_yarp::run()
 {
     // Get data from the interface
     std::vector<double> jointTorques = pImpl->humanDynamics->getJointTorques();
@@ -103,7 +103,7 @@ void HumanDynamicsWrapper::run()
     pImpl->outputPort.write();
 }
 
-bool HumanDynamicsWrapper::attach(yarp::dev::PolyDriver* poly)
+bool HumanDynamics_nws_yarp::attach(yarp::dev::PolyDriver* poly)
 {
     if (!poly) {
         yError() << LogPrefix << "Passed PolyDriver is nullptr";
@@ -141,9 +141,9 @@ bool HumanDynamicsWrapper::attach(yarp::dev::PolyDriver* poly)
     return true;
 }
 
-void HumanDynamicsWrapper::threadRelease() {}
+void HumanDynamics_nws_yarp::threadRelease() {}
 
-bool HumanDynamicsWrapper::detach()
+bool HumanDynamics_nws_yarp::detach()
 {
     while (isRunning()) {
         stop();
@@ -153,10 +153,10 @@ bool HumanDynamicsWrapper::detach()
     return true;
 }
 
-bool HumanDynamicsWrapper::attachAll(const yarp::dev::PolyDriverList& driverList)
+bool HumanDynamics_nws_yarp::attachAll(const yarp::dev::PolyDriverList& driverList)
 {
     if (driverList.size() > 1) {
-        yError() << LogPrefix << "This wrapper accepts only one attached PolyDriver";
+        yError() << LogPrefix << "This server accepts only one attached PolyDriver";
         return false;
     }
 
@@ -170,7 +170,7 @@ bool HumanDynamicsWrapper::attachAll(const yarp::dev::PolyDriverList& driverList
     return attach(driver->poly);
 }
 
-bool HumanDynamicsWrapper::detachAll()
+bool HumanDynamics_nws_yarp::detachAll()
 {
     return detach();
 }
diff --git a/...manDynamicsWrapper/HumanDynamicsWrapper.h → ...ynamics_nws_yarp/HumanDynamics_nws_yarp.h b/...manDynamicsWrapper/HumanDynamicsWrapper.h → ...ynamics_nws_yarp/HumanDynamics_nws_yarp.h
@@ -13,11 +13,11 @@
 
 namespace hde {
     namespace wrappers {
-        class HumanDynamicsWrapper;
+        class HumanDynamics_nws_yarp;
     } // namespace wrappers
 } // namespace hde
 
-class hde::wrappers::HumanDynamicsWrapper final
+class hde::wrappers::HumanDynamics_nws_yarp final
         : public yarp::dev::DeviceDriver
         , public yarp::dev::IWrapper
         , public yarp::dev::IMultipleWrapper
@@ -28,8 +28,8 @@ class hde::wrappers::HumanDynamicsWrapper final
     std::unique_ptr<impl> pImpl;
 
 public:
-    HumanDynamicsWrapper();
-    ~HumanDynamicsWrapper() override;
+    HumanDynamics_nws_yarp();
+    ~HumanDynamics_nws_yarp() override;
 
     // DeviceDriver interface
     bool open(yarp::os::Searchable& config) override;