refactor: Rename Driver class to Actuator

CMakeLists.txt

@@ -32,7 +32,7 @@ add_library(myactuator_rmd SHARED
  src/can/utilities.cpp
  src/protocol/requests.cpp
  src/protocol/responses.cpp
- src/driver.cpp
+ src/actuator.cpp
 )
 target_include_directories(myactuator_rmd PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -88,8 +88,8 @@ if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_TESTING)
  test/protocol/responses_test.cpp
  test/mock/actuator_adaptor.cpp
  test/mock/actuator_mock.cpp
- test/mock/driver_actuator_test.cpp
- test/driver_test.cpp
+ test/mock/actuator_actuator_mock_test.cpp
+ test/actuator_test.cpp
  test/run_tests.cpp
  )
  target_compile_definitions(run_tests PUBLIC NDEBUG)

ReadMe.md

@@ -94,8 +94,8 @@ A minimal example for the `main.cpp` can be found below:
 
 
 int main() {
- myactuator_rmd::Driver driver {"can0", 1};
- std::cout << driver.getVersionDate() << std::endl;
+ myactuator_rmd::Actuator actuator {"can0", 1};
+ std::cout << actuator.getVersionDate() << std::endl;
  return EXIT_SUCCESS;
 }
 ```
@@ -110,15 +110,15 @@ int main() {
 $ python3
 Python 3.10.6 (main, Mar 10 2023, 10:55:28) [GCC 11.3.0] on linux
 Type "help", "copyright", "credits" or "license" for more information.
->>> from myactuator_rmd_py import Driver
->>> driver = Driver("can0", 1)
->>> driver.getVersionDate()
+>>> from myactuator_rmd_py import Actuator
+>>> actuator = Actuator("can0", 1)
+>>> actuator.getVersionDate()
 2023020601
->>> driver.sendPositionAbsoluteSetpoint(180.0, 500.0)
->>> driver.shutdownMotor()
+>>> actuator.sendPositionAbsoluteSetpoint(180.0, 500.0)
+>>> actuator.shutdownMotor()
 ```
 
-In case you installed the package through ROS 2 the shared library will be inside the `myactuator_rmd` package so you need to import with `from myactuator_rmd.myactuator_rmd_py import Driver`.
+In case you installed the package through ROS 2 the shared library will be inside the `myactuator_rmd` package so you need to import with `from myactuator_rmd.myactuator_rmd_py import Actuator`.
 
 For more information you might also inspect the contents of the module inside Python 3 with `help(myactuator_rmd_py)`.
 

bindings/myactuator_rmd.cpp

@@ -28,7 +28,7 @@
 #include "myactuator_rmd/can/frame.hpp"
 #include "myactuator_rmd/can/node.hpp"
 #include "myactuator_rmd/actuator_constants.hpp"
-#include "myactuator_rmd/driver.hpp"
+#include "myactuator_rmd/actuator.hpp"
 #include "myactuator_rmd/exceptions.hpp"
 #include "myactuator_rmd/io.hpp"
 
@@ -62,43 +62,43 @@ namespace myactuator_rmd {
 
 PYBIND11_MODULE(myactuator_rmd_py, m) {
 
- m.doc() = "MyActuator RMD driver main module";
- pybind11::class_<myactuator_rmd::Driver>(m, "Driver")
+ m.doc() = "MyActuator RMD main module";
+ pybind11::class_<myactuator_rmd::Actuator>(m, "Actuator")
  .def(pybind11::init<std::string const&, std::uint32_t>())
- .def("getAcceleration", &myactuator_rmd::Driver::getAcceleration)
- .def("getCanId", &myactuator_rmd::Driver::getCanId)
- .def("getControllerGains", &myactuator_rmd::Driver::getControllerGains)
- .def("getControlMode", &myactuator_rmd::Driver::getControlMode)
- .def("getMotorModel", &myactuator_rmd::Driver::getMotorModel)
- .def("getMotorPower", &myactuator_rmd::Driver::getMotorPower)
- .def("getMotorStatus1", &myactuator_rmd::Driver::getMotorStatus1)
- .def("getMotorStatus2", &myactuator_rmd::Driver::getMotorStatus2)
- .def("getMotorStatus3", &myactuator_rmd::Driver::getMotorStatus3)
- .def("getMultiTurnAngle", &myactuator_rmd::Driver::getMultiTurnAngle)
- .def("getMultiTurnEncoderPosition", &myactuator_rmd::Driver::getMultiTurnEncoderPosition)
- .def("getMultiTurnEncoderOriginalPosition", &myactuator_rmd::Driver::getMultiTurnEncoderOriginalPosition)
- .def("getMultiTurnEncoderZeroOffset", &myactuator_rmd::Driver::getMultiTurnEncoderZeroOffset)
- .def("getRuntime", &myactuator_rmd::Driver::getRuntime)
- .def("getSingleTurnAngle", &myactuator_rmd::Driver::getSingleTurnAngle)
- .def("getSingleTurnEncoderPosition", &myactuator_rmd::Driver::getSingleTurnEncoderPosition)
- .def("getVersionDate", &myactuator_rmd::Driver::getVersionDate)
- .def("lockBrake", &myactuator_rmd::Driver::lockBrake)
- .def("releaseBrake", &myactuator_rmd::Driver::releaseBrake)
- .def("reset", &myactuator_rmd::Driver::reset)
- .def("sendCurrentSetpoint", &myactuator_rmd::Driver::sendCurrentSetpoint)
- .def("sendPositionAbsoluteSetpoint", &myactuator_rmd::Driver::sendPositionAbsoluteSetpoint)
- .def("sendTorqueSetpoint", &myactuator_rmd::Driver::sendTorqueSetpoint)
- .def("sendVelocitySetpoint", &myactuator_rmd::Driver::sendVelocitySetpoint)
- .def("setAcceleration", &myactuator_rmd::Driver::setAcceleration)
- .def("setBaudRate", &myactuator_rmd::Driver::setBaudRate)
- .def("setCanId", &myactuator_rmd::Driver::setCanId)
- .def("setControllerGains", &myactuator_rmd::Driver::setControllerGains)
- .def("setCurrentPositionAsEncoderZero", &myactuator_rmd::Driver::setCurrentPositionAsEncoderZero)
- .def("setEncoderZero", &myactuator_rmd::Driver::setEncoderZero)
- .def("setTimeout", &myactuator_rmd::Driver::setTimeout)
- .def("shutdownMotor", &myactuator_rmd::Driver::shutdownMotor)
- .def("stopMotor", &myactuator_rmd::Driver::stopMotor);
- pybind11::register_exception<myactuator_rmd::Exception>(m, "DriverException");
+ .def("getAcceleration", &myactuator_rmd::Actuator::getAcceleration)
+ .def("getCanId", &myactuator_rmd::Actuator::getCanId)
+ .def("getControllerGains", &myactuator_rmd::Actuator::getControllerGains)
+ .def("getControlMode", &myactuator_rmd::Actuator::getControlMode)
+ .def("getMotorModel", &myactuator_rmd::Actuator::getMotorModel)
+ .def("getMotorPower", &myactuator_rmd::Actuator::getMotorPower)
+ .def("getMotorStatus1", &myactuator_rmd::Actuator::getMotorStatus1)
+ .def("getMotorStatus2", &myactuator_rmd::Actuator::getMotorStatus2)
+ .def("getMotorStatus3", &myactuator_rmd::Actuator::getMotorStatus3)
+ .def("getMultiTurnAngle", &myactuator_rmd::Actuator::getMultiTurnAngle)
+ .def("getMultiTurnEncoderPosition", &myactuator_rmd::Actuator::getMultiTurnEncoderPosition)
+ .def("getMultiTurnEncoderOriginalPosition", &myactuator_rmd::Actuator::getMultiTurnEncoderOriginalPosition)
+ .def("getMultiTurnEncoderZeroOffset", &myactuator_rmd::Actuator::getMultiTurnEncoderZeroOffset)
+ .def("getRuntime", &myactuator_rmd::Actuator::getRuntime)
+ .def("getSingleTurnAngle", &myactuator_rmd::Actuator::getSingleTurnAngle)
+ .def("getSingleTurnEncoderPosition", &myactuator_rmd::Actuator::getSingleTurnEncoderPosition)
+ .def("getVersionDate", &myactuator_rmd::Actuator::getVersionDate)
+ .def("lockBrake", &myactuator_rmd::Actuator::lockBrake)
+ .def("releaseBrake", &myactuator_rmd::Actuator::releaseBrake)
+ .def("reset", &myactuator_rmd::Actuator::reset)
+ .def("sendCurrentSetpoint", &myactuator_rmd::Actuator::sendCurrentSetpoint)
+ .def("sendPositionAbsoluteSetpoint", &myactuator_rmd::Actuator::sendPositionAbsoluteSetpoint)
+ .def("sendTorqueSetpoint", &myactuator_rmd::Actuator::sendTorqueSetpoint)
+ .def("sendVelocitySetpoint", &myactuator_rmd::Actuator::sendVelocitySetpoint)
+ .def("setAcceleration", &myactuator_rmd::Actuator::setAcceleration)
+ .def("setBaudRate", &myactuator_rmd::Actuator::setBaudRate)
+ .def("setCanId", &myactuator_rmd::Actuator::setCanId)
+ .def("setControllerGains", &myactuator_rmd::Actuator::setControllerGains)
+ .def("setCurrentPositionAsEncoderZero", &myactuator_rmd::Actuator::setCurrentPositionAsEncoderZero)
+ .def("setEncoderZero", &myactuator_rmd::Actuator::setEncoderZero)
+ .def("setTimeout", &myactuator_rmd::Actuator::setTimeout)
+ .def("shutdownMotor", &myactuator_rmd::Actuator::shutdownMotor)
+ .def("stopMotor", &myactuator_rmd::Actuator::stopMotor);
+ pybind11::register_exception<myactuator_rmd::Exception>(m, "ActuatorException");
  pybind11::register_exception<myactuator_rmd::ProtocolException>(m, "ProtocolException");
  pybind11::register_exception<myactuator_rmd::ValueRangeException>(m, "ValueRangeException");
 

include/myactuator_rmd/driver.hpp → include/myactuator_rmd/actuator.hpp

@@ -1,13 +1,13 @@
 /**
- * \file driver.hpp
+ * \file actuator.hpp
  * \mainpage
  * Contains the main driver
  * \author
  * Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__DRIVER
-#define MYACTUATOR_RMD__DRIVER
+#ifndef MYACTUATOR_RMD__ACTUATOR
+#define MYACTUATOR_RMD__ACTUATOR
 #pragma once
 
 #include <chrono>
@@ -28,13 +28,13 @@
 
 namespace myactuator_rmd {
 
- /**\class Driver
+ /**\class Actuator
  * \brief
- * Driver for commanding the MyActuator RMD actuator series
+ * Actuator for commanding the MyActuator RMD actuator series
  */
- class Driver: protected Node<AddressOffset::request,AddressOffset::response> {
+ class Actuator: protected Node<AddressOffset::request,AddressOffset::response> {
  public:
- /**\fn Driver
+ /**\fn Actuator
  * \brief
  * Class constructor
  * 
@@ -43,12 +43,12 @@ namespace myactuator_rmd {
  * \param[in] actuator_id
  * The actuator id [1, 32]
  */
- Driver(std::string const& ifname, std::uint32_t const actuator_id);
- Driver() = delete;
- Driver(Driver const&) = delete;
- Driver& operator = (Driver const&) = default;
- Driver(Driver&&) = default;
- Driver& operator = (Driver&&) = default;
+ Actuator(std::string const& ifname, std::uint32_t const actuator_id);
+ Actuator() = delete;
+ Actuator(Actuator const&) = delete;
+ Actuator& operator = (Actuator const&) = default;
+ Actuator(Actuator&&) = default;
+ Actuator& operator = (Actuator&&) = default;
 
  /**\fn getAcceleration
  * \brief
@@ -377,4 +377,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__DRIVER
+#endif // MYACTUATOR_RMD__ACTUATOR

include/myactuator_rmd/myactuator_rmd.hpp

@@ -11,7 +11,7 @@
 #pragma once
 
 #include "myactuator_rmd/actuator_constants.hpp"
-#include "myactuator_rmd/driver.hpp"
+#include "myactuator_rmd/actuator.hpp"
 #include "myactuator_rmd/exceptions.hpp"
 #include "myactuator_rmd/io.hpp"
 #include "myactuator_rmd/version.hpp"

include/myactuator_rmd/protocol/node.hpp

@@ -23,7 +23,7 @@ namespace myactuator_rmd {
 
  /**\class Node
  * \brief
- * Base class for the driver as well as the actuator mock
+ * Base class for the actuator as well as the actuator mock
  */
  template <std::uint32_t SEND_ID_OFFSET, std::uint32_t RECEIVE_ID_OFFSET>
  class Node: protected can::Node {