friVersion.h -> friClientVersion.h

lbr-stack · Sep 7, 2024 · 4c98e26 · 4c98e26
1 parent 4a5599c
commit 4c98e26
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Showing 13 changed files with 33 additions and 33 deletions.
diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/async_client.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/async_client.hpp
@@ -8,8 +8,8 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
+#include "friClientVersion.h"
 #include "friLBRClient.h"
-#include "friVersion.h"
 
 #include "lbr_fri_ros2/filters.hpp"
 #include "lbr_fri_ros2/formatting.hpp"

diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/command_guard.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/command_guard.hpp
@@ -10,9 +10,9 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
+#include "friClientVersion.h"
 #include "friLBRClient.h"
 #include "friLBRState.h"
-#include "friVersion.h"
 
 #include "lbr_fri_idl/msg/lbr_command.hpp"
 #include "lbr_fri_idl/msg/lbr_state.hpp"
@@ -66,7 +66,7 @@ class CommandGuard {
 class SafeStopCommandGuard : public CommandGuard {
 public:
   SafeStopCommandGuard(const CommandGuardParameters &command_guard_parameters)
-      : CommandGuard(command_guard_parameters){};
+      : CommandGuard(command_guard_parameters) {};
 
 protected:
   virtual bool command_in_position_limits_(const_idl_command_t_ref lbr_command,

diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp
@@ -3,8 +3,8 @@
 
 #include <string>
 
+#include "friClientVersion.h"
 #include "friLBRClient.h"
-#include "friVersion.h"
 
 namespace lbr_fri_ros2 {
 struct ColorScheme {
@@ -57,11 +57,11 @@ struct EnumMaps {
     switch (client_command_mode) {
     case KUKA::FRI::EClientCommandMode::NO_COMMAND_MODE:
       return "NO_COMMAND_MODE";
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
     case KUKA::FRI::EClientCommandMode::POSITION:
       return "POSITION";
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
     case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
       return "JOINT_POSITION";
     case KUKA::FRI::EClientCommandMode::CARTESIAN_POSE:

diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/base_command.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/base_command.hpp
@@ -9,8 +9,8 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
+#include "friClientVersion.h"
 #include "friLBRClient.h"
-#include "friVersion.h"
 
 #include "lbr_fri_idl/msg/lbr_command.hpp"
 #include "lbr_fri_ros2/command_guard.hpp"

diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/state.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/state.hpp
@@ -6,8 +6,8 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
+#include "friClientVersion.h"
 #include "friLBRClient.h"
-#include "friVersion.h"
 
 #include "lbr_fri_idl/msg/lbr_state.hpp"
 #include "lbr_fri_ros2/filters.hpp"

diff --git a/lbr_fri_ros2/src/async_client.cpp b/lbr_fri_ros2/src/async_client.cpp
@@ -18,10 +18,10 @@ AsyncClient::AsyncClient(const KUKA::FRI::EClientCommandMode &client_command_mod
   RCLCPP_INFO_STREAM(rclcpp::get_logger(LOGGER_NAME),
                      "Command guard variant '" << command_guard_variant.c_str() << "'");
   switch (client_command_mode) {
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   case KUKA::FRI::EClientCommandMode::POSITION:
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
   case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
 #endif
   {

diff --git a/lbr_fri_ros2/src/interfaces/position_command.cpp b/lbr_fri_ros2/src/interfaces/position_command.cpp
@@ -8,7 +8,7 @@ PositionCommandInterface::PositionCommandInterface(
 
 void PositionCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
                                                        const_idl_state_t_ref state) {
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   if (state.client_command_mode != KUKA::FRI::EClientCommandMode::POSITION) {
     std::string err = "Expected robot in '" +
                       EnumMaps::client_command_mode_map(KUKA::FRI::EClientCommandMode::POSITION) +
@@ -19,7 +19,7 @@ void PositionCommandInterface::buffered_command_to_fri(fri_command_t_ref command
     throw std::runtime_error(err);
   }
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
   if (state.client_command_mode != KUKA::FRI::EClientCommandMode::JOINT_POSITION) {
     std::string err =
         "Expected robot in " +

diff --git a/lbr_fri_ros2/src/interfaces/state.cpp b/lbr_fri_ros2/src/interfaces/state.cpp
@@ -6,7 +6,7 @@ StateInterface::StateInterface(const StateInterfaceParameters &state_interface_p
 
 void StateInterface::set_state(const_fri_state_t_ref state) {
   state_.client_command_mode = state.getClientCommandMode();
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   std::memcpy(state_.commanded_joint_position.data(), state.getCommandedJointPosition(),
               sizeof(double) * fri_state_t::NUMBER_OF_JOINTS);
 #endif
@@ -43,7 +43,7 @@ void StateInterface::set_state(const_fri_state_t_ref state) {
 void StateInterface::set_state_open_loop(const_fri_state_t_ref state,
                                          const_idl_joint_pos_t_ref joint_position) {
   state_.client_command_mode = state.getClientCommandMode();
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   std::memcpy(state_.commanded_joint_position.data(), state.getCommandedJointPosition(),
               sizeof(double) * fri_state_t::NUMBER_OF_JOINTS);
 #endif

diff --git a/lbr_fri_ros2/test/test_command_interfaces.cpp b/lbr_fri_ros2/test/test_command_interfaces.cpp
@@ -4,9 +4,9 @@
 
 #include "friClientApplication.h"
 #include "friClientIf.h"
+#include "friClientVersion.h"
 #include "friLBRClient.h"
 #include "friUdpConnection.h"
-#include "friVersion.h"
 
 #include "lbr_fri_idl/msg/lbr_command.hpp"
 #include "lbr_fri_ros2/interfaces/base_command.hpp"
@@ -33,10 +33,10 @@ class TestCommandInterfaces : public ::testing::Test {
 
   void set_up(const KUKA::FRI::EClientCommandMode &client_command_mode) {
     switch (client_command_mode) {
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
     case KUKA::FRI::EClientCommandMode::POSITION:
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
     case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
 #endif
     {
@@ -143,10 +143,10 @@ class TestCommandInterfaces : public ::testing::Test {
 };
 
 TEST_F(TestCommandInterfaces, TestPositionCommandInterface) {
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   set_up(KUKA::FRI::EClientCommandMode::POSITION);
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
   set_up(KUKA::FRI::EClientCommandMode::JOINT_POSITION);
 #endif
   test_simple();

diff --git a/lbr_ros2_control/include/lbr_ros2_control/lbr_state_broadcaster.hpp b/lbr_ros2_control/include/lbr_ros2_control/lbr_state_broadcaster.hpp
@@ -15,8 +15,8 @@
 #include "realtime_tools/realtime_publisher.h"
 
 #include "friClientIf.h"
+#include "friClientVersion.h"
 #include "friLBRState.h"
-#include "friVersion.h"
 
 #include "lbr_fri_idl/msg/lbr_state.hpp"
 #include "lbr_ros2_control/system_interface_type_values.hpp"

diff --git a/lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp b/lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp
@@ -15,8 +15,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 
+#include "friClientVersion.h"
 #include "friLBRState.h"
-#include "friVersion.h"
 
 #include "lbr_fri_idl/msg/lbr_command.hpp"
 #include "lbr_fri_idl/msg/lbr_state.hpp"
@@ -33,10 +33,10 @@ namespace lbr_ros2_control {
 struct SystemInterfaceParameters {
   uint8_t fri_client_sdk_major_version{1};
   uint8_t fri_client_sdk_minor_version{15};
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   KUKA::FRI::EClientCommandMode client_command_mode{KUKA::FRI::EClientCommandMode::POSITION};
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
   KUKA::FRI::EClientCommandMode client_command_mode{KUKA::FRI::EClientCommandMode::JOINT_POSITION};
 #endif
   int32_t port_id{30200};
@@ -70,10 +70,10 @@ class SystemInterface : public hardware_interface::SystemInterface {
 protected:
   static constexpr char LOGGER_NAME[] = "lbr_ros2_control::SystemInterface";
 
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   static constexpr uint8_t LBR_FRI_STATE_INTERFACE_SIZE = 7;
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
   static constexpr uint8_t LBR_FRI_STATE_INTERFACE_SIZE = 6;
 #endif
   static constexpr uint8_t LBR_FRI_COMMAND_INTERFACE_SIZE = 2;

diff --git a/lbr_ros2_control/src/lbr_state_broadcaster.cpp b/lbr_ros2_control/src/lbr_state_broadcaster.cpp
@@ -77,7 +77,7 @@ controller_interface::return_type LBRStateBroadcaster::update(const rclcpp::Time
     // joint related states
     std::for_each(joint_names_.begin(), joint_names_.end(),
                   [&, idx = 0](const std::string &joint_name) mutable {
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
                     rt_state_publisher_ptr_->msg_.commanded_joint_position[idx] =
                         state_interface_map_[joint_name][HW_IF_COMMANDED_JOINT_POSITION];
 #endif
@@ -133,7 +133,7 @@ void LBRStateBroadcaster::init_state_interface_map_() {
 
 void LBRStateBroadcaster::init_state_msg_() {
   rt_state_publisher_ptr_->msg_.client_command_mode = std::numeric_limits<int8_t>::quiet_NaN();
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   rt_state_publisher_ptr_->msg_.commanded_joint_position.fill(
       std::numeric_limits<double>::quiet_NaN());
 #endif

diff --git a/lbr_ros2_control/src/system_interface.cpp b/lbr_ros2_control/src/system_interface.cpp
@@ -110,7 +110,7 @@ std::vector<hardware_interface::StateInterface> SystemInterface::export_state_in
     state_interfaces.emplace_back(info_.joints[i].name, hardware_interface::HW_IF_POSITION,
                                   &hw_lbr_state_.measured_joint_position[i]);
 
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
     state_interfaces.emplace_back(info_.joints[i].name, HW_IF_COMMANDED_JOINT_POSITION,
                                   &hw_lbr_state_.commanded_joint_position[i]);
 #endif
@@ -324,22 +324,22 @@ bool SystemInterface::parse_parameters_(const hardware_interface::HardwareInfo &
         std::stoul(system_info.hardware_parameters.at("fri_client_sdk_major_version"));
     parameters_.fri_client_sdk_minor_version =
         std::stoul(system_info.hardware_parameters.at("fri_client_sdk_minor_version"));
-    if (parameters_.fri_client_sdk_major_version != FRICLIENT_VERSION_MAJOR) {
+    if (parameters_.fri_client_sdk_major_version != FRI_CLIENT_VERSION_MAJOR) {
       RCLCPP_ERROR_STREAM(
           rclcpp::get_logger(LOGGER_NAME),
           lbr_fri_ros2::ColorScheme::ERROR
-              << "Expected FRI client SDK version '" << FRICLIENT_VERSION_MAJOR << "', got '"
+              << "Expected FRI client SDK version '" << FRI_CLIENT_VERSION_MAJOR << "', got '"
               << std::to_string(parameters_.fri_client_sdk_major_version)
               << "'. Update lbr_system_parameters.yaml or compile against correct FRI version."
               << lbr_fri_ros2::ColorScheme::ENDC);
       return false;
     }
     std::string client_command_mode = system_info.hardware_parameters.at("client_command_mode");
     if (client_command_mode == "position") {
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
       parameters_.client_command_mode = KUKA::FRI::EClientCommandMode::POSITION;
 #endif
-#if FRICLIENT_VERSION_MAJOR >= 2
+#if FRI_CLIENT_VERSION_MAJOR >= 2
       parameters_.client_command_mode = KUKA::FRI::EClientCommandMode::JOINT_POSITION;
 #endif
     } else if (client_command_mode == "torque") {
@@ -405,7 +405,7 @@ void SystemInterface::nan_command_interfaces_() {
 void SystemInterface::nan_state_interfaces_() {
   // state interfaces of type double
   hw_lbr_state_.measured_joint_position.fill(std::numeric_limits<double>::quiet_NaN());
-#if FRICLIENT_VERSION_MAJOR == 1
+#if FRI_CLIENT_VERSION_MAJOR == 1
   hw_lbr_state_.commanded_joint_position.fill(std::numeric_limits<double>::quiet_NaN());
 #endif
   hw_lbr_state_.measured_torque.fill(std::numeric_limits<double>::quiet_NaN());