Implement APA102Interface remove spatial namespace

panther_lights/include/panther_lights/apa102.hpp

@@ -16,19 +16,32 @@
 #define PANTHER_LIGHTS_APA102_HPP_
 
 #include <cstdint>
+#include <memory>
 #include <string>
 #include <vector>
 
-namespace panther_lights::apa102
+namespace panther_lights
 {
 
+class APA102Interface
+{
+public:
+  virtual ~APA102Interface() = default;
+
+  virtual void SetGlobalBrightness(const std::uint8_t brightness) = 0;
+  virtual void SetGlobalBrightness(const float brightness) = 0;
+  virtual void SetPanel(const std::vector<std::uint8_t> & frame) const = 0;
+
+  using SharedPtr = std::shared_ptr<APA102Interface>;
+};
+
 /**
  * @brief Class representing an APA102 LED panel.
  *
  * This class provides methods to control the APA102 LED panel, including setting the global
  * brightness, setting the LED panel based on a given frame.
  */
-class APA102
+class APA102 : public APA102Interface
 {
 public:
   APA102(
@@ -42,7 +55,7 @@ class APA102
    *
    * @exception std::out_of_range if brightness value is out of defined range
    */
-  void SetGlobalBrightness(const std::uint8_t brightness);
+  void SetGlobalBrightness(const std::uint8_t brightness) override;
 
   /**
    * @brief Set APA102 LED global brightness
@@ -51,7 +64,7 @@ class APA102
    *
    * @exception std::out_of_range if brightness value is out of defined range
    */
-  void SetGlobalBrightness(const float brightness);
+  void SetGlobalBrightness(const float brightness) override;
 
   /**
    * @brief Set APA102 LED panel based on given frame
@@ -61,7 +74,7 @@ class APA102
    * @exception std::ios_base::failure if failed to send data over SPI
    * or std::runtime_error if frame is invalid
    */
-  void SetPanel(const std::vector<std::uint8_t> & frame) const;
+  void SetPanel(const std::vector<std::uint8_t> & frame) const override;
 
 protected:
   /**
@@ -96,6 +109,6 @@ class APA102
   const std::uint32_t speed_;
 };
 
-}  // namespace panther_lights::apa102
+}  // namespace panther_lights
 
 #endif  // PANTHER_LIGHTS_APA102_HPP_

panther_lights/include/panther_lights/lights_driver_node.hpp

@@ -43,14 +43,18 @@ class LightsDriverNode : public rclcpp::Node
 public:
   LightsDriverNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
+  LightsDriverNode(
+    APA102Interface::SharedPtr channel_1, APA102Interface::SharedPtr channel_2,
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
 protected:
   int num_led_;
   double frame_timeout_;
   bool led_control_granted_;
   bool led_control_pending_;
 
-  rclcpp::Time chanel_1_ts_;
-  rclcpp::Time chanel_2_ts_;
+  rclcpp::Time channel_1_ts_;
+  rclcpp::Time channel_2_ts_;
 
 private:
   void OnShutdown();
@@ -86,8 +90,8 @@ class LightsDriverNode : public rclcpp::Node
    * logging. Valid names are: 'channel_1', 'channel_2'.
    */
   void FrameCB(
-    const ImageMsg::UniquePtr & msg, const apa102::APA102 & panel, const rclcpp::Time & last_time,
-    const std::string & panel_name);
+    const ImageMsg::UniquePtr & msg, const APA102Interface::SharedPtr & panel,
+    const rclcpp::Time & last_time, const std::string & panel_name);
 
   void SetBrightnessCB(
     const SetLEDBrightnessSrv::Request::SharedPtr & request,
@@ -112,8 +116,8 @@ class LightsDriverNode : public rclcpp::Node
   unsigned initialization_attempt_;
   rclcpp::Time led_control_call_time_;
 
-  apa102::APA102 chanel_1_;
-  apa102::APA102 chanel_2_;
+  APA102Interface::SharedPtr channel_1_;
+  APA102Interface::SharedPtr channel_2_;
 
   rclcpp::TimerBase::SharedPtr initialization_timer_;
 
@@ -122,8 +126,8 @@ class LightsDriverNode : public rclcpp::Node
 
   rclcpp::CallbackGroup::SharedPtr client_callback_group_;
 
-  rclcpp::Subscription<ImageMsg>::SharedPtr chanel_1_sub_;
-  rclcpp::Subscription<ImageMsg>::SharedPtr chanel_2_sub_;
+  rclcpp::Subscription<ImageMsg>::SharedPtr channel_1_sub_;
+  rclcpp::Subscription<ImageMsg>::SharedPtr channel_2_sub_;
 
   diagnostic_updater::Updater diagnostic_updater_;
 };

panther_lights/src/apa102.cpp

@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace panther_lights::apa102
+namespace panther_lights
 {
 
 APA102::APA102(const std::string & device, const std::uint32_t speed, const bool cs_high)
@@ -126,4 +126,4 @@ void APA102::SPISendBuffer(const std::vector<std::uint8_t> & buffer) const
   }
 }
 
-}  // namespace panther_lights::apa102
+}  // namespace panther_lights

panther_lights/src/lights_driver_node.cpp

@@ -44,8 +44,8 @@ LightsDriverNode::LightsDriverNode(const rclcpp::NodeOptions & options)
   led_control_granted_(false),
   led_control_pending_(false),
   initialization_attempt_(0),
-  chanel_1_("/dev/spiled-channel1"),
-  chanel_2_("/dev/spiled-channel2"),
+  channel_1_(std::make_shared<APA102>("/dev/spiled-channel1")),
+  channel_2_(std::make_shared<APA102>("/dev/spiled-channel2")),
   diagnostic_updater_(this)
 {
   RCLCPP_INFO(this->get_logger(), "Constructing node.");
@@ -60,8 +60,8 @@ LightsDriverNode::LightsDriverNode(const rclcpp::NodeOptions & options)
   num_led_ = this->get_parameter("num_led").as_int();
 
   const float global_brightness = this->get_parameter("global_brightness").as_double();
-  chanel_1_.SetGlobalBrightness(global_brightness);
-  chanel_2_.SetGlobalBrightness(global_brightness);
+  channel_1_->SetGlobalBrightness(global_brightness);
+  channel_2_->SetGlobalBrightness(global_brightness);
 
   client_callback_group_ =
     this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -76,18 +76,18 @@ LightsDriverNode::LightsDriverNode(const rclcpp::NodeOptions & options)
   initialization_timer_ = this->create_wall_timer(
     std::chrono::milliseconds(100), std::bind(&LightsDriverNode::InitializationTimerCB, this));
 
-  chanel_1_ts_ = this->get_clock()->now();
-  chanel_1_sub_ = this->create_subscription<ImageMsg>(
+  channel_1_ts_ = this->get_clock()->now();
+  channel_1_sub_ = this->create_subscription<ImageMsg>(
     "lights/channel_1_frame", 5, [&](const ImageMsg::UniquePtr & msg) {
-      FrameCB(msg, chanel_1_, chanel_1_ts_, "channel_1");
-      chanel_1_ts_ = msg->header.stamp;
+      FrameCB(msg, channel_1_, channel_1_ts_, "channel_1");
+      channel_1_ts_ = msg->header.stamp;
     });
 
-  chanel_2_ts_ = this->get_clock()->now();
-  chanel_2_sub_ = this->create_subscription<ImageMsg>(
+  channel_2_ts_ = this->get_clock()->now();
+  channel_2_sub_ = this->create_subscription<ImageMsg>(
     "lights/channel_2_frame", 5, [&](const ImageMsg::UniquePtr & msg) {
-      FrameCB(msg, chanel_2_, chanel_2_ts_, "channel_2");
-      chanel_2_ts_ = msg->header.stamp;
+      FrameCB(msg, channel_2_, channel_2_ts_, "channel_2");
+      channel_2_ts_ = msg->header.stamp;
     });
 
   diagnostic_updater_.setHardwareID("Bumper Lights");
@@ -133,8 +133,8 @@ void LightsDriverNode::InitializationTimerCB()
 
 void LightsDriverNode::ClearLEDs()
 {
-  chanel_1_.SetPanel(std::vector<std::uint8_t>(num_led_ * 4, 0));
-  chanel_2_.SetPanel(std::vector<std::uint8_t>(num_led_ * 4, 0));
+  channel_1_->SetPanel(std::vector<std::uint8_t>(num_led_ * 4, 0));
+  channel_2_->SetPanel(std::vector<std::uint8_t>(num_led_ * 4, 0));
 }
 
 void LightsDriverNode::ToggleLEDControl(const bool enable)
@@ -191,7 +191,7 @@ void LightsDriverNode::ToggleLEDControlCB(
 }
 
 void LightsDriverNode::FrameCB(
-  const ImageMsg::UniquePtr & msg, const apa102::APA102 & panel, const rclcpp::Time & last_time,
+  const ImageMsg::UniquePtr & msg, const APA102::SharedPtr & panel, const rclcpp::Time & last_time,
   const std::string & panel_name)
 {
   if (!led_control_granted_) {
@@ -222,7 +222,7 @@ void LightsDriverNode::FrameCB(
     return;
   }
 
-  panel.SetPanel(msg->data);
+  panel->SetPanel(msg->data);
 }
 
 void LightsDriverNode::SetBrightnessCB(
@@ -231,8 +231,8 @@ void LightsDriverNode::SetBrightnessCB(
   const float brightness = req->data;
 
   try {
-    chanel_1_.SetGlobalBrightness(brightness);
-    chanel_2_.SetGlobalBrightness(brightness);
+    channel_1_->SetGlobalBrightness(brightness);
+    channel_2_->SetGlobalBrightness(brightness);
   } catch (const std::out_of_range & e) {
     res->success = false;
     res->message = "Failed to set brightness: " + std::string(e.what());

panther_lights/test/test_apa102.cpp

@@ -16,7 +16,7 @@
 
 #include "panther_lights/apa102.hpp"
 
-class APA102Wrapper : public panther_lights::apa102::APA102
+class APA102Wrapper : public panther_lights::APA102
 {
 public:
   APA102Wrapper(const std::string & device) : APA102(device) {}
@@ -40,8 +40,8 @@ class TestAPA102 : public testing::Test
 
 TEST_F(TestAPA102, PortsAvailable)
 {
-  EXPECT_NO_THROW({ panther_lights::apa102::APA102 chanel_1_("/dev/spidev0.0"); });
-  EXPECT_NO_THROW({ panther_lights::apa102::APA102 chanel_2_("/dev/spidev0.1"); });
+  EXPECT_NO_THROW({ panther_lights::APA102 channel_1_("/dev/spidev0.0"); });
+  EXPECT_NO_THROW({ panther_lights::APA102 channel_2_("/dev/spidev0.1"); });
 }
 
 TEST_F(TestAPA102, SetGlobalBrightnessFloat)

panther_lights/test/test_lights_driver_node.cpp

@@ -42,8 +42,8 @@ class DriverNodeWrapper : public panther_lights::LightsDriverNode
   int getNumLeds() const { return num_led_; }
   double getTimeout() const { return frame_timeout_; }
   bool isInitialised() const { return led_control_granted_; }
-  rclcpp::Time setChanel1TS(const rclcpp::Time & ts) { return chanel_1_ts_ = ts; }
-  rclcpp::Time setChanel2TS(const rclcpp::Time & ts) { return chanel_2_ts_ = ts; }
+  rclcpp::Time setChanel1TS(const rclcpp::Time & ts) { return channel_1_ts_ = ts; }
+  rclcpp::Time setChanel2TS(const rclcpp::Time & ts) { return channel_2_ts_ = ts; }
 };
 
 class TestDriverNode : public testing::Test