Modernizing the code

.gitignore

@@ -1,2 +1,3 @@
 compile_commands.json
 .clangd/
+.cache/

net_ft_diagnostic_broadcaster/include/net_ft_diagnostic_broadcaster/net_ft_diagnostic_broadcaster.hpp

@@ -1,34 +1,22 @@
 // Copyright (c) 2022, Grzegorz Bartyzel
 //
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef NET_FT_DIAGNOSTIC_BROADCASTER__NET_FT_DIAGNOSTIC_BROADCASTER_HPP_
 #define NET_FT_DIAGNOSTIC_BROADCASTER__NET_FT_DIAGNOSTIC_BROADCASTER_HPP_
 
+#include <cstdint>
+
 #include "controller_interface/controller_interface.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
@@ -62,7 +50,10 @@ class NetFTDiagnosticBroadcaster : public controller_interface::ControllerInterf
   rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostic_publisher_;
 
   diagnostic_msgs::msg::DiagnosticArray diag_array_;
-  uint32_t last_packet_count_;
+  std::uint32_t last_packet_count_;
+  std::uint32_t last_lost_packets_;
+  std::uint32_t last_out_of_order_count_;
+  std::uint32_t last_status_;
   double publish_rate_;
 };
 }  // namespace net_ft_diagnostic_broadcaster

net_ft_diagnostic_broadcaster/src/net_ft_diagnostic_broadcaster.cpp

@@ -1,33 +1,21 @@
 // Copyright (c) 2022, Grzegorz Bartyzel
 //
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include "net_ft_diagnostic_broadcaster/net_ft_diagnostic_broadcaster.hpp"
 
+#include <cstdint>
+
 #include "rclcpp/rclcpp.hpp"
 #include "diagnostic_updater/diagnostic_status_wrapper.hpp"
 
@@ -46,6 +34,9 @@ controller_interface::CallbackReturn NetFTDiagnosticBroadcaster::on_init()
     return controller_interface::CallbackReturn::ERROR;
   }
   last_packet_count_ = 0;
+  last_lost_packets_ = 0;
+  last_out_of_order_count_ = 0;
+  last_status_ = 0;
   diagnostic_publisher_.reset();
   return controller_interface::CallbackReturn::SUCCESS;
 }
@@ -107,10 +98,13 @@ void NetFTDiagnosticBroadcaster::publish_diagnostic()
   diag_array_.status.clear();
   diagnostic_updater::DiagnosticStatusWrapper diag_status;
 
-  auto packet_count = static_cast<uint32_t>(state_interfaces_[0].get_value());
-  auto lost_packets = static_cast<uint32_t>(state_interfaces_[1].get_value());
-  auto status = static_cast<uint32_t>(state_interfaces_[2].get_value());
-  auto out_of_order_count = static_cast<uint32_t>(state_interfaces_[3].get_value());
+  const auto packet_count =
+      static_cast<std::uint32_t>(state_interfaces_[0].get_optional().value_or(last_packet_count_));
+  const auto lost_packets =
+      static_cast<std::uint32_t>(state_interfaces_[1].get_optional().value_or(last_lost_packets_));
+  const auto status = static_cast<std::uint32_t>(state_interfaces_[2].get_optional().value_or(last_status_));
+  const auto out_of_order_count =
+      static_cast<std::uint32_t>(state_interfaces_[3].get_optional().value_or(last_out_of_order_count_));
 
   if (last_packet_count_ == packet_count) {
     diag_status.mergeSummary(diagnostic_updater::DiagnosticStatusWrapper::ERROR, "No new data received!");
@@ -126,6 +120,7 @@ void NetFTDiagnosticBroadcaster::publish_diagnostic()
   diag_status.addf("Out-of-order packets", "%u", out_of_order_count);
 
   last_packet_count_ = packet_count;
+  last_lost_packets_ = lost_packets;
   diag_array_.status.push_back(diag_status);
   diag_array_.header.stamp = get_node()->get_clock()->now();
 

net_ft_driver/CMakeLists.txt

@@ -5,6 +5,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   ament_cmake
   ASIO
@@ -46,6 +48,13 @@ ament_target_dependencies(
   ${PROJECT_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
+target_compile_options(
+  ${PROJECT_NAME}
+  PRIVATE
+  "$<$<CONFIG:DEBUG>:-O0>"
+  "$<$<CONFIG:RELEASE>:-O2>"
+)
+
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)
 
 install(

net_ft_driver/include/net_ft_driver/hardware_interface.hpp

@@ -1,30 +1,16 @@
 // Copyright (c) 2022, Grzegorz Bartyzel
 //
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef NET_FT_DRIVER__HARDWARE_INTERFACE_HPP_
 #define NET_FT_DRIVER__HARDWARE_INTERFACE_HPP_
@@ -42,6 +28,7 @@
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 
+#include "net_ft_driver/types.hpp"
 #include "net_ft_driver/interfaces/net_ft_interface.hpp"
 #include "net_ft_driver/visibility_control.h"
 
@@ -76,8 +63,8 @@ class NetFtHardwareInterface : public hardware_interface::SensorInterface
   std::string ip_address_;
   std::string sensor_type_;
 
-  Vector6D ft_sensor_measurements_;
-  Vector6D offset_ft_values_;
+  types::Vector6D ft_sensor_measurements_;
+  types::Vector6D offset_ft_values_;
 
   double packet_count_;
   double lost_packets_;

net_ft_driver/include/net_ft_driver/interfaces/ati_axia_ft_interface.hpp

@@ -1,30 +1,16 @@
 // Copyright (c) 2022, Grzegorz Bartyzel
 //
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef NET_FT_DRIVER__INTERFACES__ATI_AXIA_FT_INTERFACE_HPP_
 #define NET_FT_DRIVER__INTERFACES__ATI_AXIA_FT_INTERFACE_HPP_
@@ -56,7 +42,7 @@ class AtiAxiaFTFactory : public NetFTFactory
   }
   std::unique_ptr<NetFTInterface> create(const std::string& ip_address)
   {
-    return std::unique_ptr<AtiAxiaFTInterface>(new AtiAxiaFTInterface(ip_address));
+    return std::make_unique<AtiAxiaFTInterface>(ip_address);
   }
 };
 

net_ft_driver/include/net_ft_driver/interfaces/ati_ft_interface.hpp

@@ -1,30 +1,16 @@
 // Copyright (c) 2022, Grzegorz Bartyzel
 //
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #ifndef NET_FT_DRIVER__INTERFACES__ATI_FT_INTERFACE_HPP_
 #define NET_FT_DRIVER__INTERFACES__ATI_FT_INTERFACE_HPP_
@@ -64,7 +50,7 @@ class AtiFTFactory : public NetFTFactory
   }
   std::unique_ptr<NetFTInterface> create(const std::string& ip_address)
   {
-    return std::unique_ptr<AtiFTInterface>(new AtiFTInterface(ip_address));
+    return std::make_unique<AtiFTInterface>(ip_address);
   }
 };