From 31746259cf65868d016169a6bb1c2b8846539f12 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Mon, 1 Apr 2019 14:54:39 +0200
Subject: [PATCH] put communication-related classes to namespace

---
 CMakeLists.txt                                |  5 ++--
 include/ur_rtde_driver/{ur => comm}/parser.h  |  8 +++--
 include/ur_rtde_driver/{ => comm}/pipeline.h  | 24 ++++++++-------
 include/ur_rtde_driver/{ur => comm}/stream.h  |  5 +++-
 .../ur_rtde_driver/{ => comm}/tcp_socket.h    |  3 ++
 include/ur_rtde_driver/ur/commander.h         | 14 ++++-----
 include/ur_rtde_driver/ur/consumer.h          | 14 ++++-----
 include/ur_rtde_driver/ur/factory.h           | 30 +++++++++----------
 include/ur_rtde_driver/ur/messages.h          |  2 +-
 include/ur_rtde_driver/ur/messages_parser.h   |  8 ++---
 include/ur_rtde_driver/ur/producer.h          | 16 +++++-----
 include/ur_rtde_driver/ur/rt_parser.h         |  6 ++--
 include/ur_rtde_driver/ur/rt_state.h          |  2 +-
 include/ur_rtde_driver/ur/server.h            |  6 ++--
 include/ur_rtde_driver/ur/state.h             |  2 +-
 include/ur_rtde_driver/ur/state_parser.h      |  6 ++--
 src/{ur => comm}/stream.cpp                   |  5 +++-
 src/{ => comm}/tcp_socket.cpp                 |  5 +++-
 src/ros/action_server.cpp                     |  2 +-
 src/ros_main.cpp                              | 30 +++++++++----------
 src/ur/server.cpp                             |  4 +--
 21 files changed, 108 insertions(+), 89 deletions(-)
 rename include/ur_rtde_driver/{ur => comm}/parser.h (87%)
 rename include/ur_rtde_driver/{ => comm}/pipeline.h (89%)
 rename include/ur_rtde_driver/{ur => comm}/stream.h (95%)
 rename include/ur_rtde_driver/{ => comm}/tcp_socket.h (97%)
 rename src/{ur => comm}/stream.cpp (95%)
 rename src/{ => comm}/tcp_socket.cpp (98%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb8e077..5cb31fe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -78,6 +78,8 @@ target_link_libraries(ur_rtde_hardware_interface ${catkin_LIBRARIES})
 
 
 set(${PROJECT_NAME}_SOURCES
+    src/comm/stream.cpp
+    src/comm/tcp_socket.cpp
     src/ros/action_server.cpp
     src/ros/lowbandwidth_trajectory_follower.cpp
     src/ros/mb_publisher.cpp
@@ -85,14 +87,13 @@ set(${PROJECT_NAME}_SOURCES
     src/ros/service_stopper.cpp
     src/ros/trajectory_follower.cpp
     src/ros/urscript_handler.cpp
-    src/tcp_socket.cpp
     src/ur/commander.cpp
     src/ur/master_board.cpp
     src/ur/messages.cpp
     src/ur/robot_mode.cpp
     src/ur/rt_state.cpp
     src/ur/server.cpp
-    src/ur/stream.cpp)
+)
 
 add_executable(ur_rtde_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
 add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
diff --git a/include/ur_rtde_driver/ur/parser.h b/include/ur_rtde_driver/comm/parser.h
similarity index 87%
rename from include/ur_rtde_driver/ur/parser.h
rename to include/ur_rtde_driver/comm/parser.h
index d175658..db3c0aa 100644
--- a/include/ur_rtde_driver/ur/parser.h
+++ b/include/ur_rtde_driver/comm/parser.h
@@ -19,14 +19,18 @@
 #pragma once
 #include <vector>
 #include "ur_rtde_driver/bin_parser.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 
 namespace ur_rtde_driver
 {
+namespace comm
+{
 template <typename T>
 class URParser
 {
 public:
   virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<T>>& results) = 0;
-};
+};  // namespace commtemplate<typenameT>classURParser
+
+}  // namespace comm
 }  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/pipeline.h b/include/ur_rtde_driver/comm/pipeline.h
similarity index 89%
rename from include/ur_rtde_driver/pipeline.h
rename to include/ur_rtde_driver/comm/pipeline.h
index ef7d950..3e7cf30 100644
--- a/include/ur_rtde_driver/pipeline.h
+++ b/include/ur_rtde_driver/comm/pipeline.h
@@ -27,9 +27,10 @@
 
 namespace ur_rtde_driver
 {
+namespace comm
+{
 // TODO: Remove these!!!
 using namespace moodycamel;
-using namespace std;
 
 template <typename T>
 class IConsumer
@@ -48,7 +49,7 @@ public:
   {
   }
 
-  virtual bool consume(shared_ptr<T> product) = 0;
+  virtual bool consume(std::shared_ptr<T> product) = 0;
 };
 
 template <typename T>
@@ -91,7 +92,7 @@ public:
     }
   }
 
-  bool consume(shared_ptr<T> product)
+  bool consume(std::shared_ptr<T> product)
   {
     bool res = true;
     for (auto& con : consumers_)
@@ -117,7 +118,7 @@ public:
   {
   }
 
-  virtual bool tryGet(std::vector<unique_ptr<T>>& products) = 0;
+  virtual bool tryGet(std::vector<std::unique_ptr<T>>& products) = 0;
 };
 
 class INotifier
@@ -141,14 +142,14 @@ private:
   IConsumer<T>& consumer_;
   std::string name_;
   INotifier& notifier_;
-  BlockingReaderWriterQueue<unique_ptr<T>> queue_;
-  atomic<bool> running_;
-  thread pThread_, cThread_;
+  BlockingReaderWriterQueue<std::unique_ptr<T>> queue_;
+  std::atomic<bool> running_;
+  std::thread pThread_, cThread_;
 
   void run_producer()
   {
     producer_.setupProducer();
-    std::vector<unique_ptr<T>> products;
+    std::vector<std::unique_ptr<T>> products;
     while (running_)
     {
       if (!producer_.tryGet(products))
@@ -176,7 +177,7 @@ private:
   void run_consumer()
   {
     consumer_.setupConsumer();
-    unique_ptr<T> product;
+    std::unique_ptr<T> product;
     while (running_)
     {
       // timeout was chosen because we should receive messages
@@ -211,8 +212,8 @@ public:
       return;
 
     running_ = true;
-    pThread_ = thread(&Pipeline::run_producer, this);
-    cThread_ = thread(&Pipeline::run_consumer, this);
+    pThread_ = std::thread(&Pipeline::run_producer, this);
+    cThread_ = std::thread(&Pipeline::run_consumer, this);
     notifier_.started(name_);
   }
 
@@ -233,4 +234,5 @@ public:
     notifier_.stopped(name_);
   }
 };
+}  // namespace comm
 }  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/stream.h b/include/ur_rtde_driver/comm/stream.h
similarity index 95%
rename from include/ur_rtde_driver/ur/stream.h
rename to include/ur_rtde_driver/comm/stream.h
index 0e5bcf5..b70560b 100644
--- a/include/ur_rtde_driver/ur/stream.h
+++ b/include/ur_rtde_driver/comm/stream.h
@@ -24,10 +24,12 @@
 #include <mutex>
 #include <string>
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/tcp_socket.h"
+#include "ur_rtde_driver/comm/tcp_socket.h"
 
 namespace ur_rtde_driver
 {
+namespace comm
+{
 class URStream : public TCPSocket
 {
 private:
@@ -64,4 +66,5 @@ public:
   bool read(uint8_t* buf, size_t buf_len, size_t& read);
   bool write(const uint8_t* buf, size_t buf_len, size_t& written);
 };
+}  // namespace comm
 }  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/tcp_socket.h b/include/ur_rtde_driver/comm/tcp_socket.h
similarity index 97%
rename from include/ur_rtde_driver/tcp_socket.h
rename to include/ur_rtde_driver/comm/tcp_socket.h
index 459de96..acf85dc 100644
--- a/include/ur_rtde_driver/tcp_socket.h
+++ b/include/ur_rtde_driver/comm/tcp_socket.h
@@ -26,6 +26,8 @@
 
 namespace ur_rtde_driver
 {
+namespace comm
+{
 enum class SocketState
 {
   Invalid,
@@ -72,4 +74,5 @@ public:
 
   void close();
 };
+}  // namespace comm
 }  // namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/commander.h b/include/ur_rtde_driver/ur/commander.h
index e7f20c5..c316d78 100644
--- a/include/ur_rtde_driver/ur/commander.h
+++ b/include/ur_rtde_driver/ur/commander.h
@@ -20,21 +20,21 @@
 #include <array>
 #include <iomanip>
 #include <sstream>
-#include "ur_rtde_driver/ur/stream.h"
+#include "ur_rtde_driver/comm/stream.h"
 
 namespace ur_rtde_driver
 {
 class URCommander
 {
 private:
-  URStream& stream_;
+  comm::URStream& stream_;
 
 protected:
   bool write(const std::string& s);
   void formatArray(std::ostringstream& out, std::array<double, 6>& values);
 
 public:
-  URCommander(URStream& stream) : stream_(stream)
+  URCommander(comm::URStream& stream) : stream_(stream)
   {
   }
 
@@ -53,7 +53,7 @@ public:
 class URCommander_V1_X : public URCommander
 {
 public:
-  URCommander_V1_X(URStream& stream) : URCommander(stream)
+  URCommander_V1_X(comm::URStream& stream) : URCommander(stream)
   {
   }
 
@@ -65,7 +65,7 @@ public:
 class URCommander_V3_X : public URCommander
 {
 public:
-  URCommander_V3_X(URStream& stream) : URCommander(stream)
+  URCommander_V3_X(comm::URStream& stream) : URCommander(stream)
   {
   }
 
@@ -77,7 +77,7 @@ public:
 class URCommander_V3_1__2 : public URCommander_V3_X
 {
 public:
-  URCommander_V3_1__2(URStream& stream) : URCommander_V3_X(stream)
+  URCommander_V3_1__2(comm::URStream& stream) : URCommander_V3_X(stream)
   {
   }
 
@@ -87,7 +87,7 @@ public:
 class URCommander_V3_3 : public URCommander_V3_X
 {
 public:
-  URCommander_V3_3(URStream& stream) : URCommander_V3_X(stream)
+  URCommander_V3_3(comm::URStream& stream) : URCommander_V3_X(stream)
   {
   }
 
diff --git a/include/ur_rtde_driver/ur/consumer.h b/include/ur_rtde_driver/ur/consumer.h
index 6cfd65b..b3bd249 100644
--- a/include/ur_rtde_driver/ur/consumer.h
+++ b/include/ur_rtde_driver/ur/consumer.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 #include "ur_rtde_driver/ur/master_board.h"
 #include "ur_rtde_driver/ur/messages.h"
 #include "ur_rtde_driver/ur/robot_mode.h"
@@ -27,10 +27,10 @@
 
 namespace ur_rtde_driver
 {
-class URRTPacketConsumer : public IConsumer<RTPacket>
+class URRTPacketConsumer : public comm::IConsumer<RTPacket>
 {
 public:
-  virtual bool consume(shared_ptr<RTPacket> packet)
+  virtual bool consume(std::shared_ptr<RTPacket> packet)
   {
     return packet->consumeWith(*this);
   }
@@ -41,10 +41,10 @@ public:
   virtual bool consume(RTState_V3_2__3& state) = 0;
 };
 
-class URStatePacketConsumer : public IConsumer<StatePacket>
+class URStatePacketConsumer : public comm::IConsumer<StatePacket>
 {
 public:
-  virtual bool consume(shared_ptr<StatePacket> packet)
+  virtual bool consume(std::shared_ptr<StatePacket> packet)
   {
     return packet->consumeWith(*this);
   }
@@ -58,10 +58,10 @@ public:
   virtual bool consume(RobotModeData_V3_2& data) = 0;
 };
 
-class URMessagePacketConsumer : public IConsumer<MessagePacket>
+class URMessagePacketConsumer : public comm::IConsumer<MessagePacket>
 {
 public:
-  virtual bool consume(shared_ptr<MessagePacket> packet)
+  virtual bool consume(std::shared_ptr<MessagePacket> packet)
   {
     return packet->consumeWith(*this);
   }
diff --git a/include/ur_rtde_driver/ur/factory.h b/include/ur_rtde_driver/ur/factory.h
index ea33f16..ca52b02 100644
--- a/include/ur_rtde_driver/ur/factory.h
+++ b/include/ur_rtde_driver/ur/factory.h
@@ -19,13 +19,13 @@
 #pragma once
 
 #include <cstdlib>
+#include "ur_rtde_driver/comm/parser.h"
+#include "ur_rtde_driver/comm/stream.h"
 #include "ur_rtde_driver/ur/consumer.h"
 #include "ur_rtde_driver/ur/messages_parser.h"
-#include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/producer.h"
 #include "ur_rtde_driver/ur/rt_parser.h"
 #include "ur_rtde_driver/ur/state_parser.h"
-#include "ur_rtde_driver/ur/stream.h"
 
 namespace ur_rtde_driver
 {
@@ -34,7 +34,7 @@ static const int UR_PRIMARY_PORT = 30001;
 class URFactory : private URMessagePacketConsumer
 {
 private:
-  URStream stream_;
+  comm::URStream stream_;
   URMessageParser parser_;
 
   uint8_t major_version_;
@@ -67,7 +67,7 @@ public:
   URFactory(std::string& host) : stream_(host, UR_PRIMARY_PORT)
   {
     URProducer<MessagePacket> prod(stream_, parser_);
-    std::vector<unique_ptr<MessagePacket>> results;
+    std::vector<std::unique_ptr<MessagePacket>> results;
 
     prod.setupProducer();
 
@@ -96,7 +96,7 @@ public:
     return major_version_ == 3;
   }
 
-  std::unique_ptr<URCommander> getCommander(URStream& stream)
+  std::unique_ptr<URCommander> getCommander(comm::URStream& stream)
   {
     if (major_version_ == 1)
       return std::unique_ptr<URCommander>(new URCommander_V1_X(stream));
@@ -106,38 +106,38 @@ public:
       return std::unique_ptr<URCommander>(new URCommander_V3_3(stream));
   }
 
-  std::unique_ptr<URParser<StatePacket>> getStateParser()
+  std::unique_ptr<comm::URParser<StatePacket>> getStateParser()
   {
     if (major_version_ == 1)
     {
-      return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V1_X);
+      return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V1_X);
     }
     else
     {
       if (minor_version_ < 3)
-        return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_0__1);
+        return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V3_0__1);
       else if (minor_version_ < 5)
-        return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_2);
+        return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V3_2);
       else
-        return std::unique_ptr<URParser<StatePacket>>(new URStateParser_V3_5);
+        return std::unique_ptr<comm::URParser<StatePacket>>(new URStateParser_V3_5);
     }
   }
 
-  std::unique_ptr<URParser<RTPacket>> getRTParser()
+  std::unique_ptr<comm::URParser<RTPacket>> getRTParser()
   {
     if (major_version_ == 1)
     {
       if (minor_version_ < 8)
-        return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V1_6__7);
+        return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V1_6__7);
       else
-        return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V1_8);
+        return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V1_8);
     }
     else
     {
       if (minor_version_ < 3)
-        return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V3_0__1);
+        return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V3_0__1);
       else
-        return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V3_2__3);
+        return std::unique_ptr<comm::URParser<RTPacket>>(new URRTStateParser_V3_2__3);
     }
   }
 };
diff --git a/include/ur_rtde_driver/ur/messages.h b/include/ur_rtde_driver/ur/messages.h
index ac5ec76..025a206 100644
--- a/include/ur_rtde_driver/ur/messages.h
+++ b/include/ur_rtde_driver/ur/messages.h
@@ -21,7 +21,7 @@
 #include <inttypes.h>
 #include <cstddef>
 #include "ur_rtde_driver/bin_parser.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 
 namespace ur_rtde_driver
 {
diff --git a/include/ur_rtde_driver/ur/messages_parser.h b/include/ur_rtde_driver/ur/messages_parser.h
index 00c9e8a..278d8d0 100644
--- a/include/ur_rtde_driver/ur/messages_parser.h
+++ b/include/ur_rtde_driver/ur/messages_parser.h
@@ -20,16 +20,16 @@
 #include <vector>
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/parser.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 #include "ur_rtde_driver/ur/messages.h"
-#include "ur_rtde_driver/ur/parser.h"
 
 namespace ur_rtde_driver
 {
-class URMessageParser : public URParser<MessagePacket>
+class URMessageParser : public comm::URParser<MessagePacket>
 {
 public:
-  bool parse(BinParser& bp, std::vector<unique_ptr<MessagePacket>>& results)
+  bool parse(BinParser& bp, std::vector<std::unique_ptr<MessagePacket>>& results)
   {
     int32_t packet_size;
     message_type type;
diff --git a/include/ur_rtde_driver/ur/producer.h b/include/ur_rtde_driver/ur/producer.h
index a0af94a..e4626d5 100644
--- a/include/ur_rtde_driver/ur/producer.h
+++ b/include/ur_rtde_driver/ur/producer.h
@@ -18,22 +18,22 @@
 
 #pragma once
 #include <chrono>
-#include "ur_rtde_driver/pipeline.h"
-#include "ur_rtde_driver/ur/parser.h"
-#include "ur_rtde_driver/ur/stream.h"
+#include "ur_rtde_driver/comm/pipeline.h"
+#include "ur_rtde_driver/comm/parser.h"
+#include "ur_rtde_driver/comm/stream.h"
 
 namespace ur_rtde_driver
 {
 template <typename T>
-class URProducer : public IProducer<T>
+class URProducer : public comm::IProducer<T>
 {
 private:
-  URStream& stream_;
-  URParser<T>& parser_;
+  comm::URStream& stream_;
+  comm::URParser<T>& parser_;
   std::chrono::seconds timeout_;
 
 public:
-  URProducer(URStream& stream, URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
+  URProducer(comm::URStream& stream, comm::URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
   {
   }
 
@@ -50,7 +50,7 @@ public:
     stream_.disconnect();
   }
 
-  bool tryGet(std::vector<unique_ptr<T>>& products)
+  bool tryGet(std::vector<std::unique_ptr<T>>& products)
   {
     // 4KB should be enough to hold any packet received from UR
     uint8_t buf[4096];
diff --git a/include/ur_rtde_driver/ur/rt_parser.h b/include/ur_rtde_driver/ur/rt_parser.h
index 068489f..f66dd32 100644
--- a/include/ur_rtde_driver/ur/rt_parser.h
+++ b/include/ur_rtde_driver/ur/rt_parser.h
@@ -20,14 +20,14 @@
 #include <vector>
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/pipeline.h"
-#include "ur_rtde_driver/ur/parser.h"
+#include "ur_rtde_driver/comm/pipeline.h"
+#include "ur_rtde_driver/comm/parser.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
 namespace ur_rtde_driver
 {
 template <typename T>
-class URRTStateParser : public URParser<RTPacket>
+class URRTStateParser : public comm::URParser<RTPacket>
 {
 public:
   bool parse(BinParser& bp, std::vector<std::unique_ptr<RTPacket>>& results)
diff --git a/include/ur_rtde_driver/ur/rt_state.h b/include/ur_rtde_driver/ur/rt_state.h
index 4bfdede..bd50956 100644
--- a/include/ur_rtde_driver/ur/rt_state.h
+++ b/include/ur_rtde_driver/ur/rt_state.h
@@ -21,7 +21,7 @@
 #include <inttypes.h>
 #include <cstddef>
 #include "ur_rtde_driver/bin_parser.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 #include "ur_rtde_driver/types.h"
 
 namespace ur_rtde_driver
diff --git a/include/ur_rtde_driver/ur/server.h b/include/ur_rtde_driver/ur/server.h
index 1484da0..2d9c3a0 100644
--- a/include/ur_rtde_driver/ur/server.h
+++ b/include/ur_rtde_driver/ur/server.h
@@ -24,17 +24,17 @@
 #include <cstdlib>
 #include <mutex>
 #include <string>
-#include "ur_rtde_driver/tcp_socket.h"
+#include "ur_rtde_driver/comm/tcp_socket.h"
 
 namespace ur_rtde_driver
 {
 #define MAX_SERVER_BUF_LEN 50
 
-class URServer : private TCPSocket
+class URServer : private comm::TCPSocket
 {
 private:
   int port_;
-  TCPSocket client_;
+  comm::TCPSocket client_;
 
 protected:
   virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len);
diff --git a/include/ur_rtde_driver/ur/state.h b/include/ur_rtde_driver/ur/state.h
index fdbe24d..cec1e52 100644
--- a/include/ur_rtde_driver/ur/state.h
+++ b/include/ur_rtde_driver/ur/state.h
@@ -22,7 +22,7 @@
 #include <cstddef>
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 
 namespace ur_rtde_driver
 {
diff --git a/include/ur_rtde_driver/ur/state_parser.h b/include/ur_rtde_driver/ur/state_parser.h
index 53bfc4b..40e00c2 100644
--- a/include/ur_rtde_driver/ur/state_parser.h
+++ b/include/ur_rtde_driver/ur/state_parser.h
@@ -20,16 +20,16 @@
 #include <vector>
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/parser.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 #include "ur_rtde_driver/ur/master_board.h"
-#include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/robot_mode.h"
 #include "ur_rtde_driver/ur/state.h"
 
 namespace ur_rtde_driver
 {
 template <typename RMD, typename MBD>
-class URStateParser : public URParser<StatePacket>
+class URStateParser : public comm::URParser<StatePacket>
 {
 private:
   StatePacket* from_type(package_type type)
diff --git a/src/ur/stream.cpp b/src/comm/stream.cpp
similarity index 95%
rename from src/ur/stream.cpp
rename to src/comm/stream.cpp
index 74c1759..a3536af 100644
--- a/src/ur/stream.cpp
+++ b/src/comm/stream.cpp
@@ -22,10 +22,12 @@
 #include <cstring>
 
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/ur/stream.h"
+#include "ur_rtde_driver/comm/stream.h"
 
 namespace ur_rtde_driver
 {
+namespace comm
+{
 bool URStream::write(const uint8_t* buf, size_t buf_len, size_t& written)
 {
   std::lock_guard<std::mutex> lock(write_mutex_);
@@ -62,4 +64,5 @@ bool URStream::read(uint8_t* buf, size_t buf_len, size_t& total)
 
   return remainder == 0;
 }
+}  // namespace comm
 }  // namespace ur_rtde_driver
diff --git a/src/tcp_socket.cpp b/src/comm/tcp_socket.cpp
similarity index 98%
rename from src/tcp_socket.cpp
rename to src/comm/tcp_socket.cpp
index a8b20a2..b9c9c77 100644
--- a/src/tcp_socket.cpp
+++ b/src/comm/tcp_socket.cpp
@@ -25,10 +25,12 @@
 #include <cstring>
 
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/tcp_socket.h"
+#include "ur_rtde_driver/comm/tcp_socket.h"
 
 namespace ur_rtde_driver
 {
+namespace comm
+{
 TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid)
 {
 }
@@ -186,4 +188,5 @@ bool TCPSocket::write(const uint8_t* buf, size_t buf_len, size_t& written)
 
   return true;
 }
+}  // namespace comm
 }  // namespace ur_rtde_driver
diff --git a/src/ros/action_server.cpp b/src/ros/action_server.cpp
index 1265470..5f9a495 100644
--- a/src/ros/action_server.cpp
+++ b/src/ros/action_server.cpp
@@ -45,7 +45,7 @@ void ActionServer::start()
 
   LOG_INFO("Starting ActionServer");
   running_ = true;
-  tj_thread_ = thread(&ActionServer::trajectoryThread, this);
+  tj_thread_ = std::thread(&ActionServer::trajectoryThread, this);
   as_.start();
 }
 
diff --git a/src/ros_main.cpp b/src/ros_main.cpp
index afde87d..1dda334 100644
--- a/src/ros_main.cpp
+++ b/src/ros_main.cpp
@@ -25,7 +25,8 @@
 #include <thread>
 
 #include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/pipeline.h"
+#include "ur_rtde_driver/comm/parser.h"
+#include "ur_rtde_driver/comm/pipeline.h"
 #include "ur_rtde_driver/ros/action_server.h"
 #include "ur_rtde_driver/ros/controller.h"
 #include "ur_rtde_driver/ros/io_service.h"
@@ -38,7 +39,6 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/factory.h"
 #include "ur_rtde_driver/ur/messages.h"
-#include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/producer.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 #include "ur_rtde_driver/ur/state.h"
@@ -81,7 +81,7 @@ public:
   bool shutdown_on_disconnect;
 };
 
-class IgnorePipelineStoppedNotifier : public INotifier
+class IgnorePipelineStoppedNotifier : public comm::INotifier
 {
 public:
   void started(std::string name)
@@ -94,7 +94,7 @@ public:
   }
 };
 
-class ShutdownOnPipelineStoppedNotifier : public INotifier
+class ShutdownOnPipelineStoppedNotifier : public comm::INotifier
 {
 public:
   void started(std::string name)
@@ -132,7 +132,7 @@ bool parse_args(ProgArgs& args)
 
 std::string getLocalIPAccessibleFromHost(std::string& host)
 {
-  URStream stream(host, UR_RT_PORT);
+  comm::URStream stream(host, UR_RT_PORT);
   return stream.connect() ? stream.getIP() : std::string();
 }
 
@@ -153,17 +153,17 @@ int main(int argc, char** argv)
   std::string local_ip(getLocalIPAccessibleFromHost(args.host));
 
   URFactory factory(args.host);
-  vector<Service*> services;
+  std::vector<Service*> services;
 
   // RT packets
   auto rt_parser = factory.getRTParser();
-  URStream rt_stream(args.host, UR_RT_PORT);
+  comm::URStream rt_stream(args.host, UR_RT_PORT);
   URProducer<RTPacket> rt_prod(rt_stream, *rt_parser);
   RTPublisher rt_pub(args.prefix, args.base_frame, args.tool_frame, args.use_ros_control);
   auto rt_commander = factory.getCommander(rt_stream);
-  vector<IConsumer<RTPacket>*> rt_vec{ &rt_pub };
+  std::vector<comm::IConsumer<RTPacket>*> rt_vec{ &rt_pub };
 
-  INotifier* notifier(nullptr);
+  comm::INotifier* notifier(nullptr);
   ROSController* controller(nullptr);
   ActionServer* action_server(nullptr);
   if (args.use_ros_control)
@@ -208,20 +208,20 @@ int main(int argc, char** argv)
     notifier = new IgnorePipelineStoppedNotifier();
   }
 
-  MultiConsumer<RTPacket> rt_cons(rt_vec);
-  Pipeline<RTPacket> rt_pl(rt_prod, rt_cons, "RTPacket", *notifier);
+  comm::MultiConsumer<RTPacket> rt_cons(rt_vec);
+  comm::Pipeline<RTPacket> rt_pl(rt_prod, rt_cons, "RTPacket", *notifier);
 
   // Message packets
   auto state_parser = factory.getStateParser();
-  URStream state_stream(args.host, UR_SECONDARY_PORT);
+  comm::URStream state_stream(args.host, UR_SECONDARY_PORT);
   URProducer<StatePacket> state_prod(state_stream, *state_parser);
   MBPublisher state_pub;
 
   ServiceStopper service_stopper(services);
 
-  vector<IConsumer<StatePacket>*> state_vec{ &state_pub, &service_stopper };
-  MultiConsumer<StatePacket> state_cons(state_vec);
-  Pipeline<StatePacket> state_pl(state_prod, state_cons, "StatePacket", *notifier);
+  std::vector<comm::IConsumer<StatePacket>*> state_vec{ &state_pub, &service_stopper };
+  comm::MultiConsumer<StatePacket> state_cons(state_vec);
+  comm::Pipeline<StatePacket> state_pl(state_prod, state_cons, "StatePacket", *notifier);
 
   LOG_INFO("Starting main loop");
 
diff --git a/src/ur/server.cpp b/src/ur/server.cpp
index b8e5c20..9e21865 100644
--- a/src/ur/server.cpp
+++ b/src/ur/server.cpp
@@ -76,7 +76,7 @@ bool URServer::bind()
 
 bool URServer::accept()
 {
-  if (TCPSocket::getState() != SocketState::Connected || client_.getSocketFD() > 0)
+  if (TCPSocket::getState() != comm::SocketState::Connected || client_.getSocketFD() > 0)
     return false;
 
   struct sockaddr addr;
@@ -98,7 +98,7 @@ bool URServer::accept()
 
 void URServer::disconnectClient()
 {
-  if (client_.getState() != SocketState::Connected)
+  if (client_.getState() != comm::SocketState::Connected)
     return;
 
   client_.close();