UniversalRobots · fmauch · Sep 9, 2020 · Sep 9, 2020 · Sep 9, 2020
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.12)
-project(ur_lib)
+project(ur_client_library)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/" ${CMAKE_MODULE_PATH})
 
@@ -18,7 +18,7 @@ include(DefineCXX11CompilerFlag)
 DEFINE_CXX_11_COMPILER_FLAG(CXX11_FLAG)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
 
-add_library(ur_lib SHARED
+add_library(urcl SHARED
     src/comm/tcp_socket.cpp
     src/comm/server.cpp
     src/primary/primary_package.cpp
@@ -42,31 +42,31 @@ add_library(ur_lib SHARED
     src/ur/tool_communication.cpp
     src/rtde/rtde_writer.cpp
 )
-add_library(ur_lib::ur_lib ALIAS ur_lib)
-target_compile_options(ur_lib PRIVATE -Wall -Wextra -Wno-unused-parameter)
-target_compile_options(ur_lib PUBLIC ${CXX11_FLAG})
-target_include_directories( ur_lib PUBLIC
+add_library(ur_client_library::urcl ALIAS urcl)
+target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
+target_compile_options(urcl PUBLIC ${CXX11_FLAG})
+target_include_directories( urcl PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
   ${Boost_INCLUDE_DIRS}
 )
 
 find_package(Threads REQUIRED)
 if(THREADS_HAVE_PTHREAD_ARG)
-  target_compile_options(ur_lib PUBLIC "-pthread")
+  target_compile_options(urcl PUBLIC "-pthread")
 endif()
 if(CMAKE_THREAD_LIBS_INIT)
-  target_link_libraries(ur_lib PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
+  target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
 endif()
 
 find_package(console_bridge)
 if(console_bridge_FOUND)
   message(STATUS "Building with ROS logging support")
   add_definitions( -DROS_BUILD )
-  target_include_directories( ur_lib PRIVATE
+  target_include_directories( urcl PRIVATE
     ${console_bridge_INCLUDE_DIRS}
   )
-  target_link_libraries(ur_lib INTERFACE console_bridge)
+  target_link_libraries(urcl INTERFACE console_bridge)
 else()
   message(STATUS "Building without ROS logging support")
 endif()
@@ -82,25 +82,25 @@ else()
 endif()
 
 
-target_link_libraries(ur_lib INTERFACE ${Boost_Libraries})
+target_link_libraries(urcl INTERFACE ${Boost_Libraries})
 
 add_subdirectory(examples)
 
 include(GNUInstallDirs)
-install(TARGETS ur_lib EXPORT ur_lib_targets
+install(TARGETS urcl EXPORT urcl_targets
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
 )
 install(DIRECTORY include/ DESTINATION include)
 
-install(EXPORT ur_lib_targets
-  DESTINATION lib/cmake/ur_lib
-  FILE ur_libTargets.cmake
-  NAMESPACE ur_lib::)
+install(EXPORT urcl_targets
+  DESTINATION lib/cmake/ur_client_library
+  FILE urclTargets.cmake
+  NAMESPACE ur_client_library::)
 
 include(CMakePackageConfigHelpers)
-write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/ur_libConfigVersion.cmake VERSION 0.0.3
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/ur_client_libraryConfigVersion.cmake VERSION 0.0.3
   COMPATIBILITY SameMajorVersion)
-install(FILES ur_libConfig.cmake
-  DESTINATION lib/cmake/ur_lib)
+install(FILES ur_client_libraryConfig.cmake
+  DESTINATION lib/cmake/ur_client_library)
 
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-#ur_lib
+# Universal Robots Client Library
 
 A C++ library for accessing Universal Robots interfaces. With this library C++-based drivers can be
 implemented in order to create external applications leveraging the versatility of Universal Robots

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(ur_driver_examples)
 
-#find_package(ur_lib REQUIRED)
+#find_package(ur_client_library REQUIRED)
 
 ##
 ## Check C++11 support / enable global pedantic and Wall
@@ -13,9 +13,9 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
 add_executable(driver_example
   full_driver.cpp)
 target_compile_options(driver_example PUBLIC ${CXX11_FLAG})
-target_link_libraries(driver_example ur_lib::ur_lib)
+target_link_libraries(driver_example ur_client_library::urcl)
 
 add_executable(rtde_client_example
   rtde_client.cpp)
 target_compile_options(rtde_client_example PUBLIC ${CXX11_FLAG})
-target_link_libraries(rtde_client_example ur_lib::ur_lib)
+target_link_libraries(rtde_client_example ur_client_library::urcl)
diff --git a/examples/full_driver.cpp b/examples/full_driver.cpp
@@ -28,8 +28,8 @@
  */
 //----------------------------------------------------------------------
 
-#include <ur_lib/ur/ur_driver.h>
-#include <ur_lib/types.h>
+#include <ur_client_library/ur/ur_driver.h>
+#include <ur_client_library/types.h>
 
 #include <iostream>
 #include <memory>

diff --git a/examples/rtde_client.cpp b/examples/rtde_client.cpp
@@ -12,7 +12,7 @@
  */
 //----------------------------------------------------------------------
 
-#include <ur_lib/rtde/rtde_client.h>
+#include <ur_client_library/rtde/rtde_client.h>
 
 #include <iostream>
 #include <memory>

diff --git a/include/ur_lib/comm/bin_parser.h → include/ur_client_library/comm/bin_parser.h b/include/ur_lib/comm/bin_parser.h → include/ur_client_library/comm/bin_parser.h
@@ -29,9 +29,9 @@
 #include <cstring>
 #include <string>
 #include <memory>
-#include "ur_lib/log.h"
-#include "ur_lib/types.h"
-#include "ur_lib/exceptions.h"
+#include "ur_client_library/log.h"
+#include "ur_client_library/types.h"
+#include "ur_client_library/exceptions.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/package.h → include/ur_client_library/comm/package.h b/include/ur_lib/comm/package.h → include/ur_client_library/comm/package.h
@@ -27,7 +27,7 @@
 #ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
 
-#include "ur_lib/comm/bin_parser.h"
+#include "ur_client_library/comm/bin_parser.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/package_serializer.h → ..._client_library/comm/package_serializer.h b/include/ur_lib/comm/package_serializer.h → ..._client_library/comm/package_serializer.h
diff --git a/include/ur_lib/comm/parser.h → include/ur_client_library/comm/parser.h b/include/ur_lib/comm/parser.h → include/ur_client_library/comm/parser.h
@@ -20,8 +20,8 @@
 
 #pragma once
 #include <vector>
-#include "ur_lib/comm/bin_parser.h"
-#include "ur_lib/comm/package.h"
+#include "ur_client_library/comm/bin_parser.h"
+#include "ur_client_library/comm/package.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/pipeline.h → include/ur_client_library/comm/pipeline.h b/include/ur_lib/comm/pipeline.h → include/ur_client_library/comm/pipeline.h
@@ -20,9 +20,9 @@
 
 #pragma once
 
-#include "ur_lib/comm/package.h"
-#include "ur_lib/log.h"
-#include "ur_lib/queue/readerwriterqueue.h"
+#include "ur_client_library/comm/package.h"
+#include "ur_client_library/log.h"
+#include "ur_client_library/queue/readerwriterqueue.h"
 #include <atomic>
 #include <chrono>
 #include <thread>

diff --git a/include/ur_lib/comm/producer.h → include/ur_client_library/comm/producer.h b/include/ur_lib/comm/producer.h → include/ur_client_library/comm/producer.h
@@ -20,11 +20,11 @@
 
 #pragma once
 #include <chrono>
-#include "ur_lib/comm/pipeline.h"
-#include "ur_lib/comm/parser.h"
-#include "ur_lib/comm/stream.h"
-#include "ur_lib/comm/package.h"
-#include "ur_lib/exceptions.h"
+#include "ur_client_library/comm/pipeline.h"
+#include "ur_client_library/comm/parser.h"
+#include "ur_client_library/comm/stream.h"
+#include "ur_client_library/comm/package.h"
+#include "ur_client_library/exceptions.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/reverse_interface.h → ...r_client_library/comm/reverse_interface.h b/include/ur_lib/comm/reverse_interface.h → ...r_client_library/comm/reverse_interface.h
@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_REVERSE_INTERFACE_H_INCLUDED
 #define UR_RTDE_DRIVER_REVERSE_INTERFACE_H_INCLUDED
 
-#include "ur_lib/comm/server.h"
-#include "ur_lib/types.h"
+#include "ur_client_library/comm/server.h"
+#include "ur_client_library/types.h"
 #include <cstring>
 #include <endian.h>
 

diff --git a/include/ur_lib/comm/script_sender.h → ...de/ur_client_library/comm/script_sender.h b/include/ur_lib/comm/script_sender.h → ...de/ur_client_library/comm/script_sender.h
@@ -29,8 +29,8 @@
 #ifndef UR_RTDE_DRIVER_SCRIPT_SENDER_H_INCLUDED
 #define UR_RTDE_DRIVER_SCRIPT_SENDER_H_INCLUDED
 
-#include "ur_lib/comm/server.h"
-#include "ur_lib/log.h"
+#include "ur_client_library/comm/server.h"
+#include "ur_client_library/log.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/server.h → include/ur_client_library/comm/server.h b/include/ur_lib/comm/server.h → include/ur_client_library/comm/server.h
@@ -26,7 +26,7 @@
 #include <cstdlib>
 #include <mutex>
 #include <string>
-#include "ur_lib/comm/tcp_socket.h"
+#include "ur_client_library/comm/tcp_socket.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/shell_consumer.h → ...e/ur_client_library/comm/shell_consumer.h b/include/ur_lib/comm/shell_consumer.h → ...e/ur_client_library/comm/shell_consumer.h
@@ -28,9 +28,9 @@
 #ifndef UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
 #define UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
 
-#include "ur_lib/log.h"
-#include "ur_lib/comm/pipeline.h"
-#include "ur_lib/comm/package.h"
+#include "ur_client_library/log.h"
+#include "ur_client_library/comm/pipeline.h"
+#include "ur_client_library/comm/package.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/stream.h → include/ur_client_library/comm/stream.h b/include/ur_lib/comm/stream.h → include/ur_client_library/comm/stream.h
@@ -25,8 +25,8 @@
 #include <atomic>
 #include <mutex>
 #include <string>
-#include "ur_lib/log.h"
-#include "ur_lib/comm/tcp_socket.h"
+#include "ur_client_library/log.h"
+#include "ur_client_library/comm/tcp_socket.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/comm/tcp_socket.h → include/ur_client_library/comm/tcp_socket.h b/include/ur_lib/comm/tcp_socket.h → include/ur_client_library/comm/tcp_socket.h
diff --git a/include/ur_lib/exceptions.h → include/ur_client_library/exceptions.h b/include/ur_lib/exceptions.h → include/ur_client_library/exceptions.h
diff --git a/include/ur_lib/log.h → include/ur_client_library/log.h b/include/ur_lib/log.h → include/ur_client_library/log.h
diff --git a/...r_lib/primary/abstract_primary_consumer.h → ...brary/primary/abstract_primary_consumer.h b/...r_lib/primary/abstract_primary_consumer.h → ...brary/primary/abstract_primary_consumer.h
@@ -28,10 +28,10 @@
 #ifndef UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
 #define UR_ROBOT_DRIVER_ABSTRACT_PRIMARY_CONSUMER_H_INCLUDED
 
-#include "ur_lib/log.h"
-#include "ur_lib/comm/pipeline.h"
-#include "ur_lib/primary/robot_message/version_message.h"
-#include "ur_lib/primary/robot_state/kinematics_info.h"
+#include "ur_client_library/log.h"
+#include "ur_client_library/comm/pipeline.h"
+#include "ur_client_library/primary/robot_message/version_message.h"
+#include "ur_client_library/primary/robot_state/kinematics_info.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/primary/package_header.h → ...r_client_library/primary/package_header.h b/include/ur_lib/primary/package_header.h → ...r_client_library/primary/package_header.h
@@ -32,7 +32,7 @@
 #include <inttypes.h>
 #include <cstddef>
 #include <endian.h>
-#include "ur_lib/types.h"
+#include "ur_client_library/types.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/primary/primary_package.h → ..._client_library/primary/primary_package.h b/include/ur_lib/primary/primary_package.h → ..._client_library/primary/primary_package.h
@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 
-#include "ur_lib/primary/package_header.h"
-#include "ur_lib/comm/package.h"
+#include "ur_client_library/primary/package_header.h"
+#include "ur_client_library/comm/package.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/primary/primary_parser.h → ...r_client_library/primary/primary_parser.h b/include/ur_lib/primary/primary_parser.h → ...r_client_library/primary/primary_parser.h
@@ -20,14 +20,14 @@
 
 #pragma once
 #include <vector>
-#include "ur_lib/comm/bin_parser.h"
-#include "ur_lib/comm/pipeline.h"
-#include "ur_lib/comm/parser.h"
-#include "ur_lib/primary/package_header.h"
-#include "ur_lib/primary/robot_state.h"
-#include "ur_lib/primary/robot_message.h"
-#include "ur_lib/primary/robot_state/kinematics_info.h"
-#include "ur_lib/primary/robot_message/version_message.h"
+#include "ur_client_library/comm/bin_parser.h"
+#include "ur_client_library/comm/pipeline.h"
+#include "ur_client_library/comm/parser.h"
+#include "ur_client_library/primary/package_header.h"
+#include "ur_client_library/primary/robot_state.h"
+#include "ur_client_library/primary/robot_message.h"
+#include "ur_client_library/primary/robot_state/kinematics_info.h"
+#include "ur_client_library/primary/robot_message/version_message.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/primary/robot_message.h → ...ur_client_library/primary/robot_message.h b/include/ur_lib/primary/robot_message.h → ...ur_client_library/primary/robot_message.h
@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED
 
-#include "ur_lib/primary/primary_package.h"
+#include "ur_client_library/primary/primary_package.h"
 
 namespace ur_driver
 {

diff --git a/...b/primary/robot_message/version_message.h → ...y/primary/robot_message/version_message.h b/...b/primary/robot_message/version_message.h → ...y/primary/robot_message/version_message.h
@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_VERSION_MESSAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_VERSION_MESSAGE_H_INCLUDED
 
-#include "ur_lib/primary/robot_message.h"
+#include "ur_client_library/primary/robot_message.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/primary/robot_state.h → ...e/ur_client_library/primary/robot_state.h b/include/ur_lib/primary/robot_state.h → ...e/ur_client_library/primary/robot_state.h
@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
 #define UR_RTDE_DRIVER_ROBOT_STATE_H_INCLUDED
 
-#include "ur_lib/primary/primary_package.h"
-#include "ur_lib/primary/package_header.h"
+#include "ur_client_library/primary/primary_package.h"
+#include "ur_client_library/primary/package_header.h"
 
 namespace ur_driver
 {

diff --git a/...lib/primary/robot_state/kinematics_info.h → ...ary/primary/robot_state/kinematics_info.h b/...lib/primary/robot_state/kinematics_info.h → ...ary/primary/robot_state/kinematics_info.h
@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED
 #define UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED
 
-#include "ur_lib/types.h"
-#include "ur_lib/primary/robot_state.h"
+#include "ur_client_library/types.h"
+#include "ur_client_library/primary/robot_state.h"
 namespace ur_driver
 {
 namespace primary_interface

diff --git a/include/ur_lib/queue/LICENSE.md → include/ur_client_library/queue/LICENSE.md b/include/ur_lib/queue/LICENSE.md → include/ur_client_library/queue/LICENSE.md
diff --git a/include/ur_lib/queue/atomicops.h → include/ur_client_library/queue/atomicops.h b/include/ur_lib/queue/atomicops.h → include/ur_client_library/queue/atomicops.h
diff --git a/include/ur_lib/queue/readerwriterqueue.h → ..._client_library/queue/readerwriterqueue.h b/include/ur_lib/queue/readerwriterqueue.h → ..._client_library/queue/readerwriterqueue.h
diff --git a/include/ur_lib/rtde/control_package_pause.h → ...ient_library/rtde/control_package_pause.h b/include/ur_lib/rtde/control_package_pause.h → ...ient_library/rtde/control_package_pause.h
@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED
 #define UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED
 
-#include "ur_lib/rtde/rtde_package.h"
+#include "ur_client_library/rtde/rtde_package.h"
 
 namespace ur_driver
 {

diff --git a/...r_lib/rtde/control_package_setup_inputs.h → ...brary/rtde/control_package_setup_inputs.h b/...r_lib/rtde/control_package_setup_inputs.h → ...brary/rtde/control_package_setup_inputs.h
@@ -30,7 +30,7 @@
 
 #include <vector>
 
-#include "ur_lib/rtde/rtde_package.h"
+#include "ur_client_library/rtde/rtde_package.h"
 
 namespace ur_driver
 {

diff --git a/..._lib/rtde/control_package_setup_outputs.h → ...rary/rtde/control_package_setup_outputs.h b/..._lib/rtde/control_package_setup_outputs.h → ...rary/rtde/control_package_setup_outputs.h
@@ -30,8 +30,8 @@
 
 #include <vector>
 
-#include "ur_lib/rtde/rtde_package.h"
-#include "ur_lib/rtde/package_header.h"
+#include "ur_client_library/rtde/rtde_package.h"
+#include "ur_client_library/rtde/package_header.h"
 
 namespace ur_driver
 {

diff --git a/include/ur_lib/rtde/control_package_start.h → ...ient_library/rtde/control_package_start.h b/include/ur_lib/rtde/control_package_start.h → ...ient_library/rtde/control_package_start.h
@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED
 #define UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED
 
-#include "ur_lib/rtde/rtde_package.h"
+#include "ur_client_library/rtde/rtde_package.h"
 
 namespace ur_driver
 {