rename command/state handles to command/state interfaces (#223)

Signed-off-by: Karsten Knese <[email protected]>

Author: Karsten1987

hardware_interface/include/hardware_interface/components/actuator.hpp

@@ -45,10 +45,10 @@ class Actuator final
   return_type configure(const HardwareInfo & actuator_info);
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<StateHandle> export_state_handles();
+  std::vector<StateInterface> export_state_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<CommandHandle> export_command_handles();
+  std::vector<CommandInterface> export_command_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
   return_type start();

hardware_interface/include/hardware_interface/components/actuator_interface.hpp

@@ -50,29 +50,29 @@ class ActuatorInterface
   virtual
   return_type configure(const HardwareInfo & actuator_info) = 0;
 
-  /// Exports all state handles for this actuator.
+  /// Exports all state interfaces for this actuator.
   /**
-   * The state handles have to be created and transfered according
+   * The state interfaces have to be created and transfered according
    * to the actuator info passed in for the configuration.
    *
-   * Note the ownership over the state handles must be released.
+   * Note the ownership over the state interfaces is transfered to the caller.
    *
-   * \return vector of state handles
+   * \return vector of state interfaces
    */
   virtual
-  std::vector<StateHandle> export_state_handles() = 0;
+  std::vector<StateInterface> export_state_interfaces() = 0;
 
-  /// Exports all command handles for this actuator.
+  /// Exports all command interfaces for this actuator.
   /**
-   * The command handles have to be created and transfered according
+   * The command interfaces have to be created and transfered according
    * to the actuator info passed in for the configuration.
    *
-   * Note the ownership over the command handles must be released.
+   * Note the ownership over the state interfaces is transfered to the caller.
    *
-   * \return vector of command handles
+   * \return vector of command interfaces
    */
   virtual
-  std::vector<CommandHandle> export_command_handles() = 0;
+  std::vector<CommandInterface> export_command_interfaces() = 0;
 
   /**
    * \brief Start exchange data with the hardware.
@@ -101,8 +101,8 @@ class ActuatorInterface
   /// Read the current state values from the actuator.
   /**
    * The data readings from the physical hardware has to be updated
-   * and reflected accordingly in the exported state handles.
-   * That is, the data pointed by the handles shall be updated.
+   * and reflected accordingly in the exported state interfaces.
+   * That is, the data pointed by the interfaces shall be updated.
    *
    * \return return_type::OK if the read was successful, return_type::ERROR otherwise.
    */
@@ -112,7 +112,7 @@ class ActuatorInterface
   /// Write the current command values to the actuator.
   /**
    * The physical hardware shall be updated with the latest value from
-   * the exported command handles.
+   * the exported command interfaces.
    *
    * \return return_type::OK if the read was successful, return_type::ERROR otherwise.
    */

hardware_interface/include/hardware_interface/components/sensor.hpp

@@ -47,7 +47,7 @@ class Sensor final
   return_type configure(const HardwareInfo & sensor_info);
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<StateHandle> export_state_handles();
+  std::vector<StateInterface> export_state_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
   return_type start();

hardware_interface/include/hardware_interface/components/sensor_interface.hpp

@@ -50,17 +50,17 @@ class SensorInterface
   virtual
   return_type configure(const HardwareInfo & sensor_info) = 0;
 
-  /// Exports all state handles for this sensor.
+  /// Exports all state interfaces for this sensor.
   /**
-   * The state handles have to be created and transfered according
+   * The state interfaces have to be created and transfered according
    * to the sensor info passed in for the configuration.
    *
-   * Note the ownership over the state handles must be released.
+   * Note the ownership over the state interfaces is transfered to the caller.
    *
-   * \return vector of state handles
+   * \return vector of state interfaces
    */
   virtual
-  std::vector<StateHandle> export_state_handles() = 0;
+  std::vector<StateInterface> export_state_interfaces() = 0;
 
   /**
    * \brief Start exchange data with the hardware.
@@ -89,8 +89,8 @@ class SensorInterface
   /// Read the current state values from the sensor.
   /**
    * The data readings from the physical hardware has to be updated
-   * and reflected accordingly in the exported state handles.
-   * That is, the data pointed by the handles shall be updated.
+   * and reflected accordingly in the exported state interfaces.
+   * That is, the data pointed by the interfaces shall be updated.
    *
    * \return return_type::OK if the read was successful, return_type::ERROR otherwise.
    */

hardware_interface/include/hardware_interface/components/system.hpp

@@ -45,10 +45,10 @@ class System final
   return_type configure(const HardwareInfo & system_info);
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<StateHandle> export_state_handles();
+  std::vector<StateInterface> export_state_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<CommandHandle> export_command_handles();
+  std::vector<CommandInterface> export_command_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
   return_type start();

hardware_interface/include/hardware_interface/components/system_interface.hpp

@@ -51,29 +51,30 @@ class SystemInterface
   virtual
   return_type configure(const HardwareInfo & system_info) = 0;
 
-  /// Exports all state handles for this system.
+  /// Exports all state interfaces for this system.
   /**
-   * The state handles have to be created and transfered according
+   * The state interfaces have to be created and transfered according
    * to the system info passed in for the configuration.
    *
-   * Note the ownership over the state handles must be released.
+   * Note the ownership over the state interfaces is transfered to the caller.
    *
-   * \return vector of state handles
+   *
+   * \return vector of state interfaces
    */
   virtual
-  std::vector<StateHandle> export_state_handles() = 0;
+  std::vector<StateInterface> export_state_interfaces() = 0;
 
-  /// Exports all command handles for this system.
+  /// Exports all command interfaces for this system.
   /**
-   * The command handles have to be created and transfered according
+   * The command interfaces have to be created and transfered according
    * to the system info passed in for the configuration.
    *
-   * Note the ownership over the command handles must be released.
+   * Note the ownership over the state interfaces is transfered to the caller.
    *
-   * \return vector of command handles
+   * \return vector of command interfaces
    */
   virtual
-  std::vector<CommandHandle> export_command_handles() = 0;
+  std::vector<CommandInterface> export_command_interfaces() = 0;
 
   /**
    * \brief Start exchange data with the hardware.
@@ -102,8 +103,8 @@ class SystemInterface
   /// Read the current state values from the actuators and sensors within the system.
   /**
    * The data readings from the physical hardware has to be updated
-   * and reflected accordingly in the exported state handles.
-   * That is, the data pointed by the handles shall be updated.
+   * and reflected accordingly in the exported state interfaces.
+   * That is, the data pointed by the interfaces shall be updated.
    *
    * \return return_type::OK if the read was successful, return_type::ERROR otherwise.
    */
@@ -113,7 +114,7 @@ class SystemInterface
   /// Write the current command values to the actuator within the system.
   /**
    * The physical hardware shall be updated with the latest value from
-   * the exported command handles.
+   * the exported command interfaces.
    *
    * \return return_type::OK if the read was successful, return_type::ERROR otherwise.
    */

hardware_interface/include/hardware_interface/handle.hpp

@@ -136,24 +136,24 @@ class ReadWriteHandle : public ReadOnlyHandle<HandleType>
   }
 };
 
-class StateHandle : public ReadOnlyHandle<StateHandle>
+class StateInterface : public ReadOnlyHandle<StateInterface>
 {
 public:
-  StateHandle(const StateHandle & other) = delete;
+  StateInterface(const StateInterface & other) = delete;
 
-  StateHandle(StateHandle && other) = default;
+  StateInterface(StateInterface && other) = default;
 
-  using ReadOnlyHandle<StateHandle>::ReadOnlyHandle;
+  using ReadOnlyHandle<StateInterface>::ReadOnlyHandle;
 };
 
-class CommandHandle : public ReadWriteHandle<CommandHandle>
+class CommandInterface : public ReadWriteHandle<CommandInterface>
 {
 public:
-  CommandHandle(const CommandHandle & other) = delete;
+  CommandInterface(const CommandInterface & other) = delete;
 
-  CommandHandle(CommandHandle && other) = default;
+  CommandInterface(CommandInterface && other) = default;
 
-  using ReadWriteHandle<CommandHandle>::ReadWriteHandle;
+  using ReadWriteHandle<CommandInterface>::ReadWriteHandle;
 };
 
 }  // namespace hardware_interface

hardware_interface/src/components/actuator.cpp

@@ -40,16 +40,16 @@ return_type Actuator::configure(const HardwareInfo & actuator_info)
   return impl_->configure(actuator_info);
 }
 
-std::vector<StateHandle> Actuator::export_state_handles()
+std::vector<StateInterface> Actuator::export_state_interfaces()
 {
   // TODO(karsten1987): Might be worth to do some brief sanity check here
-  return impl_->export_state_handles();
+  return impl_->export_state_interfaces();
 }
 
-std::vector<CommandHandle> Actuator::export_command_handles()
+std::vector<CommandInterface> Actuator::export_command_interfaces()
 {
   // TODO(karsten1987): Might be worth to do some brief sanity check here
-  return impl_->export_command_handles();
+  return impl_->export_command_interfaces();
 }
 
 return_type Actuator::start()

hardware_interface/src/components/sensor.cpp

@@ -39,9 +39,9 @@ return_type Sensor::configure(const HardwareInfo & sensor_info)
   return impl_->configure(sensor_info);
 }
 
-std::vector<StateHandle> Sensor::export_state_handles()
+std::vector<StateInterface> Sensor::export_state_interfaces()
 {
-  return impl_->export_state_handles();
+  return impl_->export_state_interfaces();
 }
 
 return_type Sensor::start()

hardware_interface/src/components/system.cpp

@@ -39,14 +39,14 @@ return_type System::configure(const HardwareInfo & system_info)
   return impl_->configure(system_info);
 }
 
-std::vector<StateHandle> System::export_state_handles()
+std::vector<StateInterface> System::export_state_interfaces()
 {
-  return impl_->export_state_handles();
+  return impl_->export_state_interfaces();
 }
 
-std::vector<CommandHandle> System::export_command_handles()
+std::vector<CommandInterface> System::export_command_interfaces()
 {
-  return impl_->export_command_handles();
+  return impl_->export_command_interfaces();
 }
 
 return_type System::start()