Put everyting into ur_rtde_driver namespace

include/ur_rtde_driver/bin_parser.h

@@ -29,6 +29,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/types.h"
 
+namespace ur_rtde_driver
+{
 class BinParser
 {
 private:
@@ -201,3 +203,4 @@ public:
     LOG_DEBUG("BinParser: %p - %p (%zu bytes)", buf_pos_, buf_end_, buf_end_ - buf_pos_);
   }
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/event_counter.h

@@ -23,6 +23,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 class EventCounter : public URRTPacketConsumer
 {
 private:
@@ -99,4 +101,5 @@ public:
   void stopConsumer()
   {
   }
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/pipeline.h

@@ -25,6 +25,9 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/queue/readerwriterqueue.h"
 
+namespace ur_rtde_driver
+{
+// TODO: Remove these!!!
 using namespace moodycamel;
 using namespace std;
 
@@ -230,3 +233,4 @@ public:
     notifier_.stopped(name_);
   }
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/action_server.h

@@ -37,6 +37,8 @@
 #include "ur_rtde_driver/ur/master_board.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class ActionServer : public Service, public URRTPacketConsumer
 {
 private:
@@ -91,3 +93,4 @@ public:
   virtual bool consume(RTState_V3_0__1& state);
   virtual bool consume(RTState_V3_2__3& state);
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/action_trajectory_follower_interface.h

@@ -26,6 +26,8 @@
 #include <cstddef>
 #include <vector>
 
+namespace ur_rtde_driver
+{
 struct TrajectoryPoint
 {
   std::array<double, 6> positions;
@@ -50,3 +52,4 @@ public:
   virtual void stop() = 0;
   virtual ~ActionTrajectoryFollowerInterface(){};
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/controller.h

@@ -31,6 +31,8 @@
 #include "ur_rtde_driver/ur/consumer.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
+namespace ur_rtde_driver
+{
 class ROSController : private hardware_interface::RobotHW, public URRTPacketConsumer, public Service
 {
 private:
@@ -108,3 +110,4 @@ public:
 
   virtual void onRobotStateChange(RobotState state);
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/hardware_interface.h

@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
+namespace ur_rtde_driver
+{
 class HardwareInterface
 {
 public:
@@ -99,3 +101,4 @@ public:
   typedef hardware_interface::PositionJointInterface parent_type;
   static const std::string INTERFACE_NAME;
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/io_service.h

@@ -28,6 +28,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/commander.h"
 
+namespace ur_rtde_driver
+{
 class IOService
 {
 private:
@@ -76,4 +78,5 @@ public:
     , payload_service_(nh_.advertiseService("ur_driver/set_payload", &IOService::setPayload, this))
   {
   }
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h

@@ -29,6 +29,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/server.h"
 
+namespace ur_rtde_driver
+{
 class LowBandwidthTrajectoryFollower : public ActionTrajectoryFollowerInterface
 {
 private:
@@ -54,3 +56,4 @@ public:
 
   virtual ~LowBandwidthTrajectoryFollower(){};
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/mb_publisher.h

@@ -26,6 +26,8 @@
 
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 using namespace ros;
 
 class MBPublisher : public URStatePacketConsumer
@@ -77,3 +79,4 @@ public:
   {
   }
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/rt_publisher.h

@@ -31,6 +31,8 @@
 
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 using namespace ros;
 using namespace tf;
 
@@ -90,3 +92,4 @@ public:
   {
   }
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/service_stopper.h

@@ -22,6 +22,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 enum class RobotState
 {
   Running,
@@ -86,3 +88,4 @@ public:
     return true;
   }
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/trajectory_follower.h

@@ -33,6 +33,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/ur/server.h"
 
+namespace ur_rtde_driver
+{
 class TrajectoryFollower : public ActionTrajectoryFollowerInterface
 {
 private:
@@ -65,3 +67,4 @@ public:
 
   virtual ~TrajectoryFollower(){};
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ros/urscript_handler.h

@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/ros/service_stopper.h"
 #include "ur_rtde_driver/ur/commander.h"
 
+namespace ur_rtde_driver
+{
 class URScriptHandler : public Service
 {
 private:
@@ -39,3 +41,4 @@ public:
   void urscriptInterface(const std_msgs::String::ConstPtr& msg);
   void onRobotStateChange(RobotState state);
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/tcp_socket.h

@@ -24,6 +24,8 @@
 #include <mutex>
 #include <string>
 
+namespace ur_rtde_driver
+{
 enum class SocketState
 {
   Invalid,
@@ -70,3 +72,4 @@ public:
 
   void close();
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/test/random_data.h

@@ -26,6 +26,8 @@
 #include <random>
 #include "ur_rtde_driver/bin_parser.h"
 
+namespace ur_rtde_driver
+{
 class RandomDataTest
 {
 private:
@@ -77,4 +79,5 @@ public:
   {
     bp_.consume(n);
   }
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/types.h

@@ -20,6 +20,8 @@
 
 #include <inttypes.h>
 
+namespace ur_rtde_driver
+{
 struct double3_t
 {
   double x, y, z;
@@ -39,4 +41,5 @@ inline bool operator==(const double3_t& lhs, const double3_t& rhs)
 inline bool operator==(const cartesian_coord_t& lhs, const cartesian_coord_t& rhs)
 {
   return lhs.position == rhs.position && lhs.rotation == rhs.rotation;
-}
+}
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/commander.h

@@ -22,6 +22,8 @@
 #include <sstream>
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 class URCommander
 {
 private:
@@ -91,3 +93,4 @@ public:
 
   virtual bool speedj(std::array<double, 6>& speeds, double acceleration);
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/consumer.h

@@ -25,6 +25,8 @@
 #include "ur_rtde_driver/ur/rt_state.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class URRTPacketConsumer : public IConsumer<RTPacket>
 {
 public:
@@ -65,4 +67,5 @@ public:
   }
 
   virtual bool consume(VersionMessage& message) = 0;
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/factory.h

@@ -27,6 +27,8 @@
 #include "ur_rtde_driver/ur/state_parser.h"
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 static const int UR_PRIMARY_PORT = 30001;
 
 class URFactory : private URMessagePacketConsumer
@@ -138,4 +140,5 @@ public:
         return std::unique_ptr<URParser<RTPacket>>(new URRTStateParser_V3_2__3);
     }
   }
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/master_board.h

@@ -25,6 +25,8 @@
 #include "ur_rtde_driver/types.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class SharedMasterBoardData
 {
 public:
@@ -108,3 +110,4 @@ public:
 
   static const size_t SIZE = MasterBoardData_V3_0__1::SIZE + sizeof(uint8_t) * 2;
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/messages.h

@@ -23,6 +23,8 @@
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/pipeline.h"
 
+namespace ur_rtde_driver
+{
 enum class robot_message_type : uint8_t
 {
   ROBOT_MESSAGE_TEXT = 0,
@@ -66,4 +68,5 @@ public:
   uint8_t minor_version;
   int32_t svn_version;
   std::string build_date;
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/messages_parser.h

@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/ur/messages.h"
 #include "ur_rtde_driver/ur/parser.h"
 
+namespace ur_rtde_driver
+{
 class URMessageParser : public URParser<MessagePacket>
 {
 public:
@@ -68,4 +70,5 @@ public:
     results.push_back(std::move(result));
     return parsed;
   }
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/parser.h

@@ -21,9 +21,12 @@
 #include "ur_rtde_driver/bin_parser.h"
 #include "ur_rtde_driver/pipeline.h"
 
+namespace ur_rtde_driver
+{
 template <typename T>
 class URParser
 {
 public:
   virtual bool parse(BinParser& bp, std::vector<std::unique_ptr<T>>& results) = 0;
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/producer.h

@@ -22,6 +22,8 @@
 #include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 template <typename T>
 class URProducer : public IProducer<T>
 {
@@ -80,4 +82,5 @@ public:
     BinParser bp(buf, read);
     return parser_.parse(bp, products);
   }
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/robot_mode.h

@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/types.h"
 #include "ur_rtde_driver/ur/state.h"
 
+namespace ur_rtde_driver
+{
 class SharedRobotModeData
 {
 public:
@@ -134,3 +136,4 @@ public:
 
   static_assert(RobotModeData_V3_5::SIZE == 42, "RobotModeData_V3_5 has missmatched size");
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/rt_parser.h

@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/ur/parser.h"
 #include "ur_rtde_driver/ur/rt_state.h"
 
+namespace ur_rtde_driver
+{
 template <typename T>
 class URRTStateParser : public URParser<RTPacket>
 {
@@ -53,4 +55,5 @@ public:
 typedef URRTStateParser<RTState_V1_6__7> URRTStateParser_V1_6__7;
 typedef URRTStateParser<RTState_V1_8> URRTStateParser_V1_8;
 typedef URRTStateParser<RTState_V3_0__1> URRTStateParser_V3_0__1;
-typedef URRTStateParser<RTState_V3_2__3> URRTStateParser_V3_2__3;
+typedef URRTStateParser<RTState_V3_2__3> URRTStateParser_V3_2__3;
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/rt_state.h

@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/pipeline.h"
 #include "ur_rtde_driver/types.h"
 
+namespace ur_rtde_driver
+{
 class URRTPacketConsumer;
 
 class RTPacket
@@ -134,4 +136,5 @@ public:
   static const size_t SIZE = RTState_V3_0__1::SIZE + sizeof(uint64_t) + sizeof(double);
 
   static_assert(RTState_V3_2__3::SIZE == 936, "RTState_V3_2__3 has mismatched size!");
-};
+};
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/server.h

@@ -26,6 +26,8 @@
 #include <string>
 #include "ur_rtde_driver/tcp_socket.h"
 
+namespace ur_rtde_driver
+{
 #define MAX_SERVER_BUF_LEN 50
 
 class URServer : private TCPSocket
@@ -47,3 +49,4 @@ public:
   bool readLine(char* buffer, size_t buf_len);
   bool write(const uint8_t* buf, size_t buf_len, size_t& written);
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/state.h

@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/pipeline.h"
 
+namespace ur_rtde_driver
+{
 enum class package_type : uint8_t
 {
   ROBOT_MODE_DATA = 0,
@@ -59,3 +61,4 @@ public:
   virtual bool parseWith(BinParser& bp) = 0;
   virtual bool consumeWith(URStatePacketConsumer& consumer) = 0;
 };
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/state_parser.h

@@ -26,6 +26,8 @@
 #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>
 {
@@ -115,3 +117,4 @@ typedef URStateParser<RobotModeData_V1_X, MasterBoardData_V1_X> URStateParser_V1
 typedef URStateParser<RobotModeData_V3_0__1, MasterBoardData_V3_0__1> URStateParser_V3_0__1;
 typedef URStateParser<RobotModeData_V3_2, MasterBoardData_V3_2> URStateParser_V3_2;
 typedef URStateParser<RobotModeData_V3_5, MasterBoardData_V3_2> URStateParser_V3_5;
+}  // namespace ur_rtde_driver

include/ur_rtde_driver/ur/stream.h

@@ -26,6 +26,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/tcp_socket.h"
 
+namespace ur_rtde_driver
+{
 class URStream : public TCPSocket
 {
 private:
@@ -61,4 +63,5 @@ 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 ur_rtde_driver