refactor: Change AccelerationFunctionIndex to AccelerationType

2b-t · Nov 19, 2023 · 698db7b · 698db7b
1 parent 1f26489
commit 698db7b
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Showing 7 changed files with 33 additions and 33 deletions.
diff --git a/bindings/myactuator_rmd.cpp b/bindings/myactuator_rmd.cpp
@@ -13,7 +13,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
-#include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/acceleration_type.hpp"
 #include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/control_mode.hpp"
 #include "myactuator_rmd/actuator_state/error_code.hpp"
@@ -71,11 +71,11 @@ PYBIND11_MODULE(myactuator_rmd_py, m) {
   pybind11::register_exception<myactuator_rmd::ValueRangeException>(m, "ValueRangeException");
 
   auto m_actuator_state = m.def_submodule("actuator_state", "Submodule for actuator state structures");
-  pybind11::enum_<myactuator_rmd::AccelerationFunctionIndex>(m_actuator_state, "AccelerationFunctionIndex")
-    .value("POSITION_PLANNING_ACCELERATION", myactuator_rmd::AccelerationFunctionIndex::POSITION_PLANNING_ACCELERATION)
-    .value("POSITION_PLANNING_DECELERATION", myactuator_rmd::AccelerationFunctionIndex::POSITION_PLANNING_DECELERATION)
-    .value("VELOCITY_PLANNING_ACCELERATION", myactuator_rmd::AccelerationFunctionIndex::VELOCITY_PLANNING_ACCELERATION)
-    .value("VELOCITY_PLANNING_DECELERATION", myactuator_rmd::AccelerationFunctionIndex::VELOCITY_PLANNING_DECELERATION);
+  pybind11::enum_<myactuator_rmd::AccelerationType>(m_actuator_state, "AccelerationType")
+    .value("POSITION_PLANNING_ACCELERATION", myactuator_rmd::AccelerationType::POSITION_PLANNING_ACCELERATION)
+    .value("POSITION_PLANNING_DECELERATION", myactuator_rmd::AccelerationType::POSITION_PLANNING_DECELERATION)
+    .value("VELOCITY_PLANNING_ACCELERATION", myactuator_rmd::AccelerationType::VELOCITY_PLANNING_ACCELERATION)
+    .value("VELOCITY_PLANNING_DECELERATION", myactuator_rmd::AccelerationType::VELOCITY_PLANNING_DECELERATION);
   pybind11::enum_<myactuator_rmd::BaudRate>(m_actuator_state, "BaudRate")
     .value("KBPS500", myactuator_rmd::BaudRate::KBPS500)
     .value("MBPS1", myactuator_rmd::BaudRate::MBPS1);

diff --git a/...tor_state/acceleration_function_index.hpp → ..._rmd/actuator_state/acceleration_type.hpp b/...tor_state/acceleration_function_index.hpp → ..._rmd/actuator_state/acceleration_type.hpp
@@ -1,26 +1,26 @@
 /**
- * \file acceleration_function_index.hpp
+ * \file acceleration_type.hpp
  * \mainpage
  *    Index of the acceleration/deceleration types
  * \author
  *    Tobit Flatscher (github.com/2b-t)
 */
 
-#ifndef MYACTUATOR_RMD__ACCELERATION_FUNCTION_INDEX
-#define MYACTUATOR_RMD__ACCELERATION_FUNCTION_INDEX
+#ifndef MYACTUATOR_RMD__ACCELERATION_TYPE
+#define MYACTUATOR_RMD__ACCELERATION_TYPE
 #pragma once
 
 #include <cstdint>
 
 
 namespace myactuator_rmd {
 
-  /**\enum AccelerationFunctionIndex
+  /**\enum AccelerationType
    * \brief
    *    Strongly typed enum for the different acceleration (from initial to maximum speed)/
    *    deceleration (from maximum speed to stop) types
   */
-  enum class AccelerationFunctionIndex: std::uint8_t {
+  enum class AccelerationType: std::uint8_t {
     POSITION_PLANNING_ACCELERATION = 0x00,
     POSITION_PLANNING_DECELERATION = 0x01,
     VELOCITY_PLANNING_ACCELERATION = 0x02,
@@ -29,4 +29,4 @@ namespace myactuator_rmd {
 
 }
 
-#endif // MYACTUATOR_RMD__ACCELERATION_FUNCTION_INDEX
+#endif // MYACTUATOR_RMD__ACCELERATION_TYPE
diff --git a/include/myactuator_rmd/driver.hpp b/include/myactuator_rmd/driver.hpp
@@ -14,7 +14,7 @@
 #include <cstdint>
 #include <string>
 
-#include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/acceleration_type.hpp"
 #include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/control_mode.hpp"
 #include "myactuator_rmd/actuator_state/feedback.hpp"
@@ -294,7 +294,7 @@ namespace myactuator_rmd {
        * \param[in] mode
        *    The mode of the desired acceleration/deceleration to be set
       */
-      void setAcceleration(std::uint32_t const acceleration, AccelerationFunctionIndex const mode);
+      void setAcceleration(std::uint32_t const acceleration, AccelerationType const mode);
 
       /**\fn setBaudRate
        * \brief

diff --git a/include/myactuator_rmd/protocol/requests.hpp b/include/myactuator_rmd/protocol/requests.hpp
@@ -14,7 +14,7 @@
 #include <cstdint>
 
 #include "myactuator_rmd/actuator_state/baud_rate.hpp"
-#include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/acceleration_type.hpp"
 #include "myactuator_rmd/actuator_state/gains.hpp"
 #include "myactuator_rmd/protocol/command_type.hpp"
 #include "myactuator_rmd/protocol/single_motor_message.hpp"
@@ -121,7 +121,7 @@ namespace myactuator_rmd {
        * \param[in] mode
        *    The mode of the desired acceleration/deceleration to be set
       */
-      SetAccelerationRequest(std::uint32_t const acceleration, AccelerationFunctionIndex const mode);
+      SetAccelerationRequest(std::uint32_t const acceleration, AccelerationType const mode);
       SetAccelerationRequest() = delete;
       SetAccelerationRequest(SetAccelerationRequest const&) = default;
       SetAccelerationRequest& operator = (SetAccelerationRequest const&) = default;
@@ -147,7 +147,7 @@ namespace myactuator_rmd {
        *    The acceleration mode
       */
       [[nodiscard]]
-      AccelerationFunctionIndex getMode() const noexcept;
+      AccelerationType getMode() const noexcept;
   };
 
   /**\class SetBaudRateRequest

diff --git a/src/driver.cpp b/src/driver.cpp
@@ -167,7 +167,7 @@ namespace myactuator_rmd {
     return response.getStatus();
   }
 
-  void Driver::setAcceleration(std::uint32_t const acceleration, AccelerationFunctionIndex const mode) {
+  void Driver::setAcceleration(std::uint32_t const acceleration, AccelerationType const mode) {
     SetAccelerationRequest const request {acceleration, mode};
     [[maybe_unused]] auto const response {sendRecv<SetAccelerationResponse>(request)};
     return;

diff --git a/src/protocol/requests.cpp b/src/protocol/requests.cpp
@@ -6,7 +6,7 @@
 #include <string>
 
 #include "myactuator_rmd/actuator_state/baud_rate.hpp"
-#include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/acceleration_type.hpp"
 #include "myactuator_rmd/protocol/single_motor_message.hpp"
 #include "myactuator_rmd/exceptions.hpp"
 
@@ -34,13 +34,13 @@ namespace myactuator_rmd {
     return static_cast<std::uint16_t>(getAs<std::uint8_t>(7));
   }
 
-  SetAccelerationRequest::SetAccelerationRequest(std::uint32_t const acceleration, AccelerationFunctionIndex const mode)
+  SetAccelerationRequest::SetAccelerationRequest(std::uint32_t const acceleration, AccelerationType const mode)
   : SingleMotorRequest{} {
     if ((acceleration < 100) || (acceleration > 60000)) {
       throw ValueRangeException("Acceleration value '" + std::to_string(acceleration) + "' out of range [100, 60000]");
     }
-    auto const acceleration_function_index {static_cast<std::uint8_t>(mode)};
-    setAt(acceleration_function_index, 1);
+    auto const acceleration_type {static_cast<std::uint8_t>(mode)};
+    setAt(acceleration_type, 1);
     setAt(acceleration, 4);
     return;
   }
@@ -49,8 +49,8 @@ namespace myactuator_rmd {
     return getAs<std::uint32_t>(4);
   }
 
-  AccelerationFunctionIndex SetAccelerationRequest::getMode() const noexcept {
-    return static_cast<AccelerationFunctionIndex>(getAs<std::uint8_t>(1));
+  AccelerationType SetAccelerationRequest::getMode() const noexcept {
+    return static_cast<AccelerationType>(getAs<std::uint8_t>(1));
   }
 
   SetBaudRateRequest::SetBaudRateRequest(BaudRate const baud_rate)

diff --git a/test/protocol/requests_test.cpp b/test/protocol/requests_test.cpp
@@ -11,7 +11,7 @@
 
 #include <gtest/gtest.h>
 
-#include "myactuator_rmd/actuator_state/acceleration_function_index.hpp"
+#include "myactuator_rmd/actuator_state/acceleration_type.hpp"
 #include "myactuator_rmd/actuator_state/baud_rate.hpp"
 #include "myactuator_rmd/actuator_state/gains.hpp"
 #include "myactuator_rmd/protocol/requests.hpp"
@@ -41,33 +41,33 @@ namespace myactuator_rmd {
     TEST(SetPositionPlanningAccelerationRequestTest, parsing) {
       myactuator_rmd::SetAccelerationRequest const request {{0x43, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00}};
       std::uint32_t const acceleration {request.getAcceleration()};
-      AccelerationFunctionIndex const mode {request.getMode()};
+      AccelerationType const mode {request.getMode()};
       EXPECT_EQ(acceleration, 10000);
-      EXPECT_EQ(mode, AccelerationFunctionIndex::POSITION_PLANNING_ACCELERATION);
+      EXPECT_EQ(mode, AccelerationType::POSITION_PLANNING_ACCELERATION);
     }
 
     TEST(SetPositionPlanningDecelerationRequestTest, parsing) {
       myactuator_rmd::SetAccelerationRequest const request {{0x43, 0x01, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00}};
       std::uint32_t const acceleration {request.getAcceleration()};
-      AccelerationFunctionIndex const mode {request.getMode()};
+      AccelerationType const mode {request.getMode()};
       EXPECT_EQ(acceleration, 10000);
-      EXPECT_EQ(mode, AccelerationFunctionIndex::POSITION_PLANNING_DECELERATION);
+      EXPECT_EQ(mode, AccelerationType::POSITION_PLANNING_DECELERATION);
     }
 
     TEST(SetVelocityPlanningAccelerationRequestTest, parsing) {
       myactuator_rmd::SetAccelerationRequest const request {{0x43, 0x02, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00}};
       std::uint32_t const acceleration {request.getAcceleration()};
-      AccelerationFunctionIndex const mode {request.getMode()};
+      AccelerationType const mode {request.getMode()};
       EXPECT_EQ(acceleration, 10000);
-      EXPECT_EQ(mode, AccelerationFunctionIndex::VELOCITY_PLANNING_ACCELERATION);
+      EXPECT_EQ(mode, AccelerationType::VELOCITY_PLANNING_ACCELERATION);
     }
 
     TEST(SetVelocityPlanningDecelerationRequestTest, parsing) {
       myactuator_rmd::SetAccelerationRequest const request {{0x43, 0x03, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00}};
       std::uint32_t const acceleration {request.getAcceleration()};
-      AccelerationFunctionIndex const mode {request.getMode()};
+      AccelerationType const mode {request.getMode()};
       EXPECT_EQ(acceleration, 10000);
-      EXPECT_EQ(mode, AccelerationFunctionIndex::VELOCITY_PLANNING_DECELERATION);
+      EXPECT_EQ(mode, AccelerationType::VELOCITY_PLANNING_DECELERATION);
     }
 
     TEST(SetControllerGainsPersistentlyRequestTest, parsing) {