fix naming conventions

ur_rtde_driver/include/ur_rtde_driver/comm/script_sender.h

@@ -58,7 +58,7 @@ private:
   std::thread script_thread_;
   std::string program_;
 
-  const std::string PROGRAM_REQUEST = std::string("request_program\n");
+  const std::string PROGRAM_REQUEST_ = std::string("request_program\n");
 
   void runScriptSender()
   {
@@ -86,7 +86,7 @@ private:
 
     if (read_successful)
     {
-      if (std::string(buffer) == PROGRAM_REQUEST)
+      if (std::string(buffer) == PROGRAM_REQUEST_)
       {
         return true;
       }

ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h

@@ -70,7 +70,7 @@ public:
           RobotStateType type;
           sbp.parse(type);
 
-          std::unique_ptr<PrimaryPackage> packet(state_from_type(type));
+          std::unique_ptr<PrimaryPackage> packet(stateFromType(type));
 
           if (packet == nullptr)
           {
@@ -109,7 +109,7 @@ public:
         bp.parse(source);
         bp.parse(message_type);
 
-        std::unique_ptr<PrimaryPackage> packet(message_from_type(message_type, timestamp, source));
+        std::unique_ptr<PrimaryPackage> packet(messageFromType(message_type, timestamp, source));
         if (!packet->parseWith(bp))
         {
           LOG_ERROR("Package parsing of type %d failed!", static_cast<int>(message_type));
@@ -132,7 +132,7 @@ public:
   }
 
 private:
-  RobotState* state_from_type(RobotStateType type)
+  RobotState* stateFromType(RobotStateType type)
   {
     switch (type)
     {
@@ -149,7 +149,7 @@ private:
     }
   }
 
-  RobotMessage* message_from_type(RobotMessagePackageType type, uint64_t timestamp, uint8_t source)
+  RobotMessage* messageFromType(RobotMessagePackageType type, uint64_t timestamp, uint8_t source)
   {
     switch (type)
     {

ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h

@@ -109,7 +109,7 @@ public:
 
 private:
   // Const would be better here
-  static std::unordered_map<std::string, _rtde_type_variant> type_list_;
+  static std::unordered_map<std::string, _rtde_type_variant> g_type_list;
   uint8_t recipe_id_;
   std::unordered_map<std::string, _rtde_type_variant> data_;
   std::vector<std::string> recipe_;

ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h

@@ -75,7 +75,7 @@ public:
       }
       default:
       {
-        std::unique_ptr<RTDEPackage> package(package_from_type(type));
+        std::unique_ptr<RTDEPackage> package(packageFromType(type));
         if (!package->parseWith(bp))
         {
           LOG_ERROR("Package parsing of type %d failed!", static_cast<int>(type));
@@ -98,7 +98,7 @@ public:
 
 private:
   std::vector<std::string> recipe_;
-  RTDEPackage* package_from_type(PackageType type)
+  RTDEPackage* packageFromType(PackageType type)
   {
     switch (type)
     {

ur_rtde_driver/src/ros/hardware_interface_node.cpp

@@ -30,13 +30,13 @@
 #include <csignal>
 #include <ur_rtde_driver/ros/hardware_interface.h>
 
-std::unique_ptr<ur_driver::HardwareInterface> hw_interface;
+std::unique_ptr<ur_driver::HardwareInterface> g_hw_interface;
 
 void signalHandler(int signum)
 {
   std::cout << "Interrupt signal (" << signum << ") received.\n";
 
-  hw_interface.reset();
+  g_hw_interface.reset();
   // cleanup and close up stuff here
   // terminate program
 
@@ -62,15 +62,15 @@ int main(int argc, char** argv)
   auto stopwatch_last = std::chrono::steady_clock::now();
   auto stopwatch_now = stopwatch_last;
 
-  hw_interface.reset(new ur_driver::HardwareInterface);
+  g_hw_interface.reset(new ur_driver::HardwareInterface);
 
-  if (!hw_interface->init(nh, nh_priv))
+  if (!g_hw_interface->init(nh, nh_priv))
   {
     ROS_ERROR_STREAM("Could not correctly initialize robot. Exiting");
     exit(1);
   }
   ROS_INFO_STREAM("initialized hw interface");
-  controller_manager::ControllerManager cm(hw_interface.get(), nh);
+  controller_manager::ControllerManager cm(g_hw_interface.get(), nh);
   ROS_INFO_STREAM("started controller manager");
 
   // Get current time and elapsed time since last read
@@ -128,13 +128,13 @@ int main(int argc, char** argv)
     }
   }
 
-  double expected_cycle_time = 1.0 / (static_cast<double>(hw_interface->getControlFrequency()));
+  double expected_cycle_time = 1.0 / (static_cast<double>(g_hw_interface->getControlFrequency()));
 
   // Run as fast as possible
   while (ros::ok())
   {
     // Receive current state from robot
-    hw_interface->read(timestamp, period);
+    g_hw_interface->read(timestamp, period);
 
     // Get current time and elapsed time since last read
     timestamp = ros::Time::now();
@@ -144,7 +144,7 @@ int main(int argc, char** argv)
 
     cm.update(timestamp, period);
 
-    hw_interface->write(timestamp, period);
+    g_hw_interface->write(timestamp, period);
     // if (!control_rate.sleep())
     if (period.toSec() > expected_cycle_time)
     {

ur_rtde_driver/src/rtde/data_package.cpp

@@ -30,7 +30,7 @@ namespace ur_driver
 {
 namespace rtde_interface
 {
-std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::type_list_{
+std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_type_list{
   { "timestamp", double() },
   { "target_q", vector6d_t() },
   { "target_qd", vector6d_t() },
@@ -193,9 +193,9 @@ bool rtde_interface::DataPackage ::parseWith(comm::BinParser& bp)
   bp.parse(recipe_id_);
   for (auto& item : recipe_)
   {
-    if (type_list_.find(item) != type_list_.end())
+    if (g_type_list.find(item) != g_type_list.end())
     {
-      _rtde_type_variant entry = type_list_[item];
+      _rtde_type_variant entry = g_type_list[item];
       auto bound_visitor = std::bind(ParseVisitor(), std::placeholders::_1, bp);
       boost::apply_visitor(bound_visitor, entry);
       data_[item] = entry;

ur_rtde_driver/src/ur/ur_driver.cpp

@@ -36,7 +36,7 @@
 
 namespace ur_driver
 {
-static const int32_t MULT_JOINTSTATE_ = 1000000;
+static const int32_t MULT_JOINTSTATE = 1000000;
 static const std::string JOINT_STATE_REPLACE("{{JOINT_STATE_REPLACE}}");
 static const std::string SERVO_J_REPLACE("{{SERVO_J_REPLACE}}");
 static const std::string SERVER_IP_REPLACE("{{SERVER_IP_REPLACE}}");
@@ -67,7 +67,7 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
   uint32_t script_sender_port = 50002;  // TODO: Make this a parameter
 
   std::string prog = readScriptFile(script_file);
-  prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE_));
+  prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE));
   std::ostringstream out;
   out << "lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
   prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());