PantherImu -> PhidgetImu

husarion · Sep 24, 2024 · 720bf72 · 720bf72
1 parent f82a2b2
commit 720bf72
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Showing 8 changed files with 127 additions and 127 deletions.
diff --git a/husarion_ugv_hardware_interfaces/CMakeLists.txt b/husarion_ugv_hardware_interfaces/CMakeLists.txt
@@ -52,7 +52,7 @@ pkg_check_modules(LIBGPIOD REQUIRED IMPORTED_TARGET libgpiodcxx)
 
 add_library(
   ${PROJECT_NAME} SHARED
-  src/panther_imu_sensor/panther_imu_sensor.cpp
+  src/phidget_imu_sensor/phidget_imu_sensor.cpp
   src/panther_system/gpio/gpio_controller.cpp
   src/panther_system/gpio/gpio_driver.cpp
   src/panther_system/robot_driver/canopen_manager.cpp
@@ -96,12 +96,12 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}_test_utils test/test_utils.cpp src/utils.cpp)
 
-  ament_add_gtest(${PROJECT_NAME}_test_panther_imu_sensor
-                  test/panther_imu_sensor/test_panther_imu_sensor.cpp)
+  ament_add_gtest(${PROJECT_NAME}_test_phidget_imu_sensor
+                  test/phidget_imu_sensor/test_phidget_imu_sensor.cpp)
   ament_target_dependencies(
-    ${PROJECT_NAME}_test_panther_imu_sensor hardware_interface rclcpp
+    ${PROJECT_NAME}_test_phidget_imu_sensor hardware_interface rclcpp
     husarion_ugv_utils panther_msgs phidgets_api)
-  target_link_libraries(${PROJECT_NAME}_test_panther_imu_sensor ${PROJECT_NAME}
+  target_link_libraries(${PROJECT_NAME}_test_phidget_imu_sensor ${PROJECT_NAME}
                         phidgets_spatial_parameters)
 
   ament_add_gtest(

diff --git a/husarion_ugv_hardware_interfaces/README.md b/husarion_ugv_hardware_interfaces/README.md
@@ -66,7 +66,7 @@ LynxSystem additional CAN settings
 > [!CAUTION]
 > `max_write_pdo_cmds_errors_count`, `max_read_pdo_motor_states_errors_count`, `max_read_pdo_driver_state_errors_count`, `sdo_operation_timeout`, `pdo_motor_states_timeout_ms` and `pdo_driver_state_timeout_ms` are safety-critical parameters, they should be changed only in very specific cases, be sure that you know how they work and be really cautious when changing them.
 
-### PantherImuSensor
+### PhidgetImuSensor
 
 Plugin responsible for communicating with IMU and filtering data using Madgwick Filter.
 

diff --git a/husarion_ugv_hardware_interfaces/husarion_ugv_hardware_interfaces.xml b/husarion_ugv_hardware_interfaces/husarion_ugv_hardware_interfaces.xml
@@ -15,8 +15,8 @@
     </description>
   </class>
 
-  <class name="husarion_ugv_hardware_interfaces/PantherImuSensor"
-    type="husarion_ugv_hardware_interfaces::PantherImuSensor"
+  <class name="husarion_ugv_hardware_interfaces/PhidgetImuSensor"
+    type="husarion_ugv_hardware_interfaces::PhidgetImuSensor"
     base_class_type="hardware_interface::SensorInterface">
     <description>
       Hardware IMU sensor for Panther's Phidget Spatial Inertial Measurement Unit

diff --git a/...panther_imu_sensor/panther_imu_sensor.hpp → ...phidget_imu_sensor/phidget_imu_sensor.hpp b/...panther_imu_sensor/panther_imu_sensor.hpp → ...phidget_imu_sensor/phidget_imu_sensor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_IMU_SENSOR_PANTHER_IMU_SENSOR_HPP_
-#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_IMU_SENSOR_PANTHER_IMU_SENSOR_HPP_
+#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PHIDGET_IMU_SENSOR_PHIDGET_IMU_SENSOR_HPP_
+#define HUSARION_UGV_HARDWARE_INTERFACES_PHIDGET_IMU_SENSOR_PHIDGET_IMU_SENSOR_HPP_
 
 #include <array>
 #include <condition_variable>
@@ -54,10 +54,10 @@ using CommandInterface = hardware_interface::CommandInterface;
 /**
  * @brief Class that implements SensorInterface from ros2_control for Panther
  */
-class PantherImuSensor : public hardware_interface::SensorInterface
+class PhidgetImuSensor : public hardware_interface::SensorInterface
 {
 public:
-  RCLCPP_SHARED_PTR_DEFINITIONS(PantherImuSensor)
+  RCLCPP_SHARED_PTR_DEFINITIONS(PhidgetImuSensor)
 
   CallbackReturn on_init(const hardware_interface::HardwareInfo & hardware_info) override;
   CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
@@ -143,7 +143,7 @@ class PantherImuSensor : public hardware_interface::SensorInterface
 
   std::vector<double> imu_sensor_state_;
 
-  rclcpp::Logger logger_{rclcpp::get_logger("PantherImuSensor")};
+  rclcpp::Logger logger_{rclcpp::get_logger("PhidgetImuSensor")};
   rclcpp::Clock steady_clock_{RCL_STEADY_TIME};
 
   inline static const std::array<std::string, kImuInterfacesSize> kImuInterfacesNames = {
@@ -182,4 +182,4 @@ class PantherImuSensor : public hardware_interface::SensorInterface
 
 }  // namespace husarion_ugv_hardware_interfaces
 
-#endif  // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_IMU_SENSOR_PANTHER_IMU_SENSOR_HPP_
+#endif  // HUSARION_UGV_HARDWARE_INTERFACES_PHIDGET_IMU_SENSOR_PHIDGET_IMU_SENSOR_HPP_