Merge pull request #134 from orocos/fix-rtt_roscomm-rosservice-namespace

rtt_roscomm: add rtt_roscomm namespace for rosservice plugins and helper classes
orocos · Nov 28, 2019 · 75eaee6 · 75eaee6
2 parents c64c2e4 + 92ff2a0
commit 75eaee6
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Showing 8 changed files with 32 additions and 1 deletion.
diff --git a/rtt_roscomm/include/rtt_roscomm/rtt_rosservice_proxy.h b/rtt_roscomm/include/rtt_roscomm/rtt_rosservice_proxy.h
@@ -10,6 +10,8 @@
 #include <boost/utility/enable_if.hpp>
 #include <boost/type_traits/is_void.hpp>
 
+namespace rtt_roscomm {
+
 //! Abstract ROS Service Proxy
 class ROSServiceProxyBase
 {
@@ -260,4 +262,6 @@ class ROSServiceProxyFactory : public ROSServiceProxyFactoryBase
   }
 };
 
+}  // namespace rtt_roscomm
+
 #endif // ifndef __RTT_ROSCOMM_RTT_ROSSERVICE_PROXY_H
diff --git a/rtt_roscomm/include/rtt_roscomm/rtt_rosservice_registry_service.h b/rtt_roscomm/include/rtt_roscomm/rtt_rosservice_registry_service.h
@@ -4,6 +4,8 @@
 #include <rtt/RTT.hpp>
 #include <boost/shared_ptr.hpp>
 
+namespace rtt_roscomm {
+
 class ROSServiceRegistryService;
 class ROSServiceProxyFactoryBase;
 typedef boost::shared_ptr<ROSServiceRegistryService> ROSServiceRegistryServicePtr;
@@ -42,4 +44,6 @@ class ROSServiceRegistryService : public RTT::Service
   static ROSServiceRegistryServicePtr s_instance_;
 };
 
+}  // namespace rtt_roscomm
+
 #endif // __RTT_ROSSERVICE_RTT_ROSSERVICE_REGISTRY_SERVICE_H
diff --git a/rtt_roscomm/src/rtt_rosservice_registry_service.cpp b/rtt_roscomm/src/rtt_rosservice_registry_service.cpp
@@ -6,6 +6,8 @@
 #include <rtt_roscomm/rtt_rosservice_registry_service.h>
 #include <rtt_roscomm/rtt_rosservice_proxy.h>
 
+namespace rtt_roscomm {
+
 ROSServiceRegistryServicePtr ROSServiceRegistryService::s_instance_;
 
 ROSServiceRegistryServicePtr ROSServiceRegistryService::Instance()
@@ -101,7 +103,10 @@ static void loadROSServiceRegistryService()
   ROSServiceRegistryService::Instance();
 }
 
+}  // namespace rtt_roscomm
+
 using namespace RTT;
+using namespace rtt_roscomm;
 extern "C" {
   bool loadRTTPlugin(RTT::TaskContext* c){
     if (c != 0) return false;

diff --git a/rtt_roscomm/src/rtt_rosservice_service.cpp b/rtt_roscomm/src/rtt_rosservice_service.cpp
@@ -9,6 +9,8 @@
 using namespace RTT;
 using namespace std;
 
+namespace rtt_roscomm {
+
 /**
  * The globally loadable ROS service.
  */
@@ -215,4 +217,6 @@ class ROSServiceService : public RTT::Service
   std::map<std::string, ROSServiceClientProxyBase*> client_proxies_;
 };
 
-ORO_SERVICE_NAMED_PLUGIN(ROSServiceService, "rosservice")
+}  // namespace rtt_roscomm
+
+ORO_SERVICE_NAMED_PLUGIN(rtt_roscomm::ROSServiceService, "rosservice")
diff --git a/rtt_roscomm/src/templates/service/rtt_rosservice_proxies.cpp.in b/rtt_roscomm/src/templates/service/rtt_rosservice_proxies.cpp.in
@@ -12,6 +12,8 @@
 
 namespace rtt_@ROSPACKAGE@_ros_service_proxies { 
 
+  using namespace rtt_roscomm;
+
   bool registerROSServiceProxies() {
     // Get the ros service registry service
     ROSServiceRegistryServicePtr rosservice_registry = ROSServiceRegistryService::Instance();

diff --git a/typekits/rtt_std_srvs/include/rtt_std_srvs/Empty.h b/typekits/rtt_std_srvs/include/rtt_std_srvs/Empty.h
@@ -12,6 +12,8 @@
 //  - void empty()
 //
 
+namespace rtt_roscomm {
+
 template<> struct ROSServiceServerOperationCallerWrapper<std_srvs::Empty,1> {
   typedef bool Signature();
   typedef RTT::OperationCaller<Signature> ProxyOperationCallerType;
@@ -29,4 +31,6 @@ template<> struct ROSServiceServerOperationCallerWrapper<std_srvs::Empty,2> {
   }
 };
 
+}  // namespace rtt_roscomm
+
 #endif  // RTT_STD_SRVS_EMPTY_H
diff --git a/typekits/rtt_std_srvs/include/rtt_std_srvs/SetBool.h b/typekits/rtt_std_srvs/include/rtt_std_srvs/SetBool.h
@@ -14,6 +14,8 @@
 //  - void setBool(bool) // response.success = true and response.message will be empty
 //
 
+namespace rtt_roscomm {
+
 template<> struct ROSServiceServerOperationCallerWrapper<std_srvs::SetBool,1> {
   typedef bool Signature(bool, std::string&);
   typedef RTT::OperationCaller<Signature> ProxyOperationCallerType;
@@ -52,4 +54,6 @@ template<> struct ROSServiceServerOperationCallerWrapper<std_srvs::SetBool,4> {
   }
 };
 
+}  // namespace rtt_roscomm
+
 #endif  // RTT_STD_SRVS_SETBOOL_H
diff --git a/typekits/rtt_std_srvs/include/rtt_std_srvs/Trigger.h b/typekits/rtt_std_srvs/include/rtt_std_srvs/Trigger.h
@@ -13,6 +13,8 @@
 //  - std::string trigger() // response.success = true
 //
 
+namespace rtt_roscomm {
+
 template<> struct ROSServiceServerOperationCallerWrapper<std_srvs::Trigger,1> {
   typedef bool Signature(std::string &message_out);
   typedef RTT::OperationCaller<Signature> ProxyOperationCallerType;
@@ -41,4 +43,6 @@ template<> struct ROSServiceServerOperationCallerWrapper<std_srvs::Trigger,3> {
   }
 };
 
+}  // namespace rtt_roscomm
+
 #endif  // RTT_STD_SRVS_TRIGGER_H