Update nws/nwc naming convention (#367)

* changed naming of HumanDynamicsWrapper and HumanDynamicsRemapper * changed naming of HumanStateWrapper and HumanStateRemapper * changed naming of HumanWrenchWrapper and HumanWrenchRemapper * changed naming of WearableTargetsWrapper and WearableTargetsRemapper * minor changes * Update HumanStateVisualizer nws/nwc naming convention * updating naming convention in Human.xml file * changed naming of HumanWrenchWrapper and HumanWrenchRemapper * Update CHANGELOG.md * changed wrapper and remapper folder name * updated CMakeList * Update CHANGELOG.md * updated nws\nwc naming convention of config files * updated naming convention for wearable target server * updated name of namespace
robotology · Oct 30, 2023 · 77c7a02 · 77c7a02
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Changed
+- Naming convention from `wrapper`\ `server` to `nws`\ `nwc` (https://github.com/robotology/human-dynamics-estimation/pull/367).
+
 ## [2.9.0] - 2023-10-17
 
 ### Fixed

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -83,8 +83,8 @@ add_subdirectory(msgs)
 add_subdirectory(interfaces)
 add_subdirectory(devices)
 add_subdirectory(modules)
-add_subdirectory(wrappers)
-add_subdirectory(remappers)
+add_subdirectory(servers)
+add_subdirectory(clients)
 add_subdirectory(publishers)
 add_subdirectory(HumanDynamicsEstimationLibrary)
 

diff --git a/clients/CMakeLists.txt b/clients/CMakeLists.txt
@@ -0,0 +1,7 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+add_subdirectory(HumanState_nwc_yarp)
+add_subdirectory(HumanDynamics_nwc_yarp)
+add_subdirectory(HumanWrench_nwc_yarp)
+add_subdirectory(WearableTargets_nwc_yarp)
diff --git a/...pers/HumanDynamicsRemapper/CMakeLists.txt → ...nts/HumanDynamics_nwc_yarp/CMakeLists.txt b/...pers/HumanDynamicsRemapper/CMakeLists.txt → ...nts/HumanDynamics_nwc_yarp/CMakeLists.txt
@@ -1,29 +1,29 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_dynamics_remapper
-    TYPE hde::devices::HumanDynamicsRemapper
-    INCLUDE HumanDynamicsRemapper.h
+yarp_prepare_plugin(human_dynamics_nwc_yarp
+    TYPE hde::devices::HumanDynamics_nwc_yarp
+    INCLUDE HumanDynamics_nwc_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanDynamicsRemapper
-    HumanDynamicsRemapper.cpp
-    HumanDynamicsRemapper.h)
+yarp_add_plugin(HumanDynamics_nwc_yarp
+    HumanDynamics_nwc_yarp.cpp
+    HumanDynamics_nwc_yarp.h)
 
-target_include_directories(HumanDynamicsRemapper PUBLIC
+target_include_directories(HumanDynamics_nwc_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanDynamicsRemapper PUBLIC
+target_link_libraries(HumanDynamics_nwc_yarp PUBLIC
     IHumanDynamics
     HumanDynamicsMsg
     YARP::YARP_OS
     YARP::YARP_dev
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanDynamicsRemapper
+    TARGETS HumanDynamics_nwc_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}

diff --git a/...ynamicsRemapper/HumanDynamicsRemapper.cpp → ...amics_nwc_yarp/HumanDynamics_nwc_yarp.cpp b/...ynamicsRemapper/HumanDynamicsRemapper.cpp → ...amics_nwc_yarp/HumanDynamics_nwc_yarp.cpp
@@ -1,7 +1,7 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#include "HumanDynamicsRemapper.h"
+#include "HumanDynamics_nwc_yarp.h"
 
 #include <hde/msgs/HumanDynamics.h>
 
@@ -11,16 +11,16 @@
 #include <iostream>
 #include <mutex>
 
-const std::string RemapperName = "HumanDynamicsRemapper";
-const std::string LogPrefix = RemapperName + " :";
+const std::string ClientName = "HumanDynamics_nwc_yarp";
+const std::string LogPrefix = ClientName + " :";
 
 using namespace hde::devices;
 
 // ==============
 // IMPL AND UTILS
 // ==============
 
-class HumanDynamicsRemapper::impl
+class HumanDynamics_nwc_yarp::impl
 {
 public:
     std::mutex mtx;
@@ -34,18 +34,18 @@ class HumanDynamicsRemapper::impl
 };
 
 // =======================
-// IHUMANDYNAMICS REMAPPER
+// IHUMANDYNAMICS CLIENT
 // =======================
 
-HumanDynamicsRemapper::HumanDynamicsRemapper()
+HumanDynamics_nwc_yarp::HumanDynamics_nwc_yarp()
     : PeriodicThread(1)
     , pImpl{new impl()}
 {}
 
-HumanDynamicsRemapper::~HumanDynamicsRemapper() = default;
+HumanDynamics_nwc_yarp::~HumanDynamics_nwc_yarp() = default;
 
 // parsing the configuration file and connect ports
-bool HumanDynamicsRemapper::open(yarp::os::Searchable& config)
+bool HumanDynamics_nwc_yarp::open(yarp::os::Searchable& config)
 {
     // ===============================
     // CHECK THE CONFIGURATION OPTIONS
@@ -103,10 +103,10 @@ bool HumanDynamicsRemapper::open(yarp::os::Searchable& config)
     return true;
 }
 
-void HumanDynamicsRemapper::threadRelease()
+void HumanDynamics_nwc_yarp::threadRelease()
 {}
 
-bool HumanDynamicsRemapper::close()
+bool HumanDynamics_nwc_yarp::close()
 {
     pImpl->terminationCall = true;
 
@@ -117,13 +117,13 @@ bool HumanDynamicsRemapper::close()
     return true;
 }
 
-void HumanDynamicsRemapper::run()
+void HumanDynamics_nwc_yarp::run()
 {
     return;
 }
 
 // data are read from the port and saved in buffer variables
-void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
+void HumanDynamics_nwc_yarp::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     if(!pImpl->terminationCall) {
@@ -134,19 +134,19 @@ void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
 }
 
 // method of IHumanDynamics interface expose the buffer variables data
-std::vector<std::string> HumanDynamicsRemapper::getJointNames() const
+std::vector<std::string> HumanDynamics_nwc_yarp::getJointNames() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointNames;
 }
 
-size_t HumanDynamicsRemapper::getNumberOfJoints() const
+size_t HumanDynamics_nwc_yarp::getNumberOfJoints() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointTorques.size();
 }
 
-std::vector<double> HumanDynamicsRemapper::getJointTorques() const
+std::vector<double> HumanDynamics_nwc_yarp::getJointTorques() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointTorques;

diff --git a/...nDynamicsRemapper/HumanDynamicsRemapper.h → ...ynamics_nwc_yarp/HumanDynamics_nwc_yarp.h b/...nDynamicsRemapper/HumanDynamicsRemapper.h → ...ynamics_nwc_yarp/HumanDynamics_nwc_yarp.h
@@ -1,8 +1,8 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#ifndef HDE_DEVICES_HUMANDYNAMICSREMAPPER
-#define HDE_DEVICES_HUMANDYNAMICSREMAPPER
+#ifndef HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
+#define HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
 
 #include <hde/interfaces/IHumanDynamics.h> 
 
@@ -17,10 +17,10 @@ namespace hde::msgs {
     class HumanDynamics;
 } // namespace hde::msgs
 namespace hde::devices {
-    class HumanDynamicsRemapper;
+    class HumanDynamics_nwc_yarp;
 } // namespace hde::devices
 
-class hde::devices::HumanDynamicsRemapper final
+class hde::devices::HumanDynamics_nwc_yarp final
     : public yarp::dev::DeviceDriver
     // inherite from the interface to be exposed
     , public hde::interfaces::IHumanDynamics
@@ -34,8 +34,8 @@ class hde::devices::HumanDynamicsRemapper final
     std::unique_ptr<impl> pImpl;
 
 public:
-    HumanDynamicsRemapper();
-    ~HumanDynamicsRemapper() override;
+    HumanDynamics_nwc_yarp();
+    ~HumanDynamics_nwc_yarp() override;
 
 
 
@@ -58,5 +58,5 @@ class hde::devices::HumanDynamicsRemapper final
     std::vector<double> getJointTorques() const override;
 };
 
-#endif // HDE_DEVICES_HUMANDYNAMICSREMAPPER
+#endif // HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
 
diff --git a/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml b/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<robot name="Human-Dynamics-Client" build=0 portprefix="">
+
+
+    <device type="human_dynamics_nwc_yarp" name="HumanDynamics_nwc_yarp">
+       <param name="humanDynamicsDataPort">/HDE/HumanDynamics_nws_yarp/torques:o</param>
+    </device>
+
+
+
+</robot>
diff --git a/wrappers/HumanStateWrapper/CMakeLists.txt → clients/HumanState_nwc_yarp/CMakeLists.txt b/wrappers/HumanStateWrapper/CMakeLists.txt → clients/HumanState_nwc_yarp/CMakeLists.txt
@@ -1,29 +1,29 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_state_wrapper
-    TYPE hde::wrappers::HumanStateWrapper
-    INCLUDE HumanStateWrapper.h
+yarp_prepare_plugin(human_state_nwc_yarp
+    TYPE hde::devices::HumanState_nwc_yarp
+    INCLUDE HumanState_nwc_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanStateWrapper
-    HumanStateWrapper.cpp
-    HumanStateWrapper.h)
+yarp_add_plugin(HumanState_nwc_yarp
+    HumanState_nwc_yarp.cpp
+    HumanState_nwc_yarp.h)
 
-target_include_directories(HumanStateWrapper PUBLIC
+target_include_directories(HumanState_nwc_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanStateWrapper PUBLIC
+target_link_libraries(HumanState_nwc_yarp PUBLIC
     IHumanState
     HumanStateMsg
     YARP::YARP_OS
     YARP::YARP_dev
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanStateWrapper
+    TARGETS HumanState_nwc_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}