Modernize code (nested namespace)

source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h

@@ -31,23 +31,22 @@
 #include "../ControlModes.h"
 #include "../JointControllers/JointController.h"
 
-namespace armarx
+namespace armarx::RobotUnitModule
 {
-    namespace RobotUnitModule
-    {
-        TYPEDEF_PTRS_HANDLE(Devices);
-    }
-    TYPEDEF_PTRS_SHARED(ControlDevice);
-
+    TYPEDEF_PTRS_HANDLE(Devices);
+}
 
-    namespace ControlDeviceTags
-    {
-        using namespace DeviceTags;
-        const static std::string PeriodicPosition = "ControlDeviceTag_PeriodicPosition";
-        const static std::string CreateNoDefaultController  = "ControlDeviceTag_CreateNoDefaultController";
-        const static std::string ForcePositionThroughVelocity  = "ControlDeviceTag_ForcePositionThroughVelocity";
-    }
+namespace armarx::ControlDeviceTags
+{
+    using namespace DeviceTags;
+    const static std::string PeriodicPosition = "ControlDeviceTag_PeriodicPosition";
+    const static std::string CreateNoDefaultController  = "ControlDeviceTag_CreateNoDefaultController";
+    const static std::string ForcePositionThroughVelocity  = "ControlDeviceTag_ForcePositionThroughVelocity";
+}
 
+namespace armarx
+{
+    TYPEDEF_PTRS_SHARED(ControlDevice);
     /**
      * @brief The ControlDevice class represents a logical unit accepting commands via its JointControllers.
      *

source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h

@@ -25,12 +25,13 @@
 #include"SensorDevice.h"
 #include "../SensorValues/SensorValueRTThreadTimings.h"
 
+namespace armarx::RobotUnitModule
+{
+    TYPEDEF_PTRS_HANDLE(ControlThread);
+}
+
 namespace armarx
 {
-    namespace RobotUnitModule
-    {
-        TYPEDEF_PTRS_HANDLE(ControlThread);
-    }
     TYPEDEF_PTRS_SHARED(RTThreadTimingsSensorDevice);
 
     class RTThreadTimingsSensorDevice: virtual public SensorDevice

source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h

@@ -27,19 +27,19 @@
 #include "../util.h"
 #include <IceUtil/Time.h>
 
-namespace armarx
+namespace armarx::RobotUnitModule
 {
-    namespace RobotUnitModule
-    {
-        TYPEDEF_PTRS_HANDLE(Devices);
-    }
-    TYPEDEF_PTRS_SHARED(SensorDevice);
+    TYPEDEF_PTRS_HANDLE(Devices);
+}
 
-    namespace SensorDeviceTags
-    {
-        using namespace DeviceTags;
-    }
+namespace armarx::SensorDeviceTags
+{
+    using namespace DeviceTags;
+}
 
+namespace armarx
+{
+    TYPEDEF_PTRS_SHARED(SensorDevice);
     /**
      * @brief This class represents some part of the robot providing sensor values.
      *

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp

@@ -29,37 +29,35 @@
 
 #include <atomic>
 
-namespace armarx
+namespace armarx::RobotUnitModule
 {
-    namespace RobotUnitModule
-    {
 
-        /**
-         * \brief This class allows minimal access to private members of \ref armarx::RobotUnitModule::Devices in a sane fashion for \ref armarx::NJointControllerBase.
-         * \warning !! DO NOT ADD ANYTHING IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
-         */
-        class DevicesAttorneyForNJointController
+    /**
+     * \brief This class allows minimal access to private members of \ref armarx::RobotUnitModule::Devices in a sane fashion for \ref armarx::NJointControllerBase.
+     * \warning !! DO NOT ADD ANYTHING IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
+     */
+    class DevicesAttorneyForNJointController
+    {
+        friend class ::armarx::NJointControllerBase;
+        static JointController* GetJointController(Devices& d, const std::string& deviceName, const std::string& controlMode)
         {
-            friend class ::armarx::NJointControllerBase;
-            static JointController* GetJointController(Devices& d, const std::string& deviceName, const std::string& controlMode)
+            if (d.controlDevices.has(deviceName))
             {
-                if (d.controlDevices.has(deviceName))
+                auto& dev = d.controlDevices.at(deviceName);
+                if (dev->hasJointController(controlMode))
                 {
-                    auto& dev = d.controlDevices.at(deviceName);
-                    if (dev->hasJointController(controlMode))
-                    {
-                        ARMARX_CHECK_NOT_NULL(dev->getJointController(controlMode));
-                        ARMARX_CHECK_NOT_NULL(dev->getJointController(controlMode)->getControlTarget());
-                        return dev->getJointController(controlMode);
-                    }
+                    ARMARX_CHECK_NOT_NULL(dev->getJointController(controlMode));
+                    ARMARX_CHECK_NOT_NULL(dev->getJointController(controlMode)->getControlTarget());
+                    return dev->getJointController(controlMode);
                 }
-                return nullptr;
             }
-        };
-    }
+            return nullptr;
+        }
+    };
 }
 
 
+
 thread_local bool armarx::NJointControllerRegistryEntry::ConstructorIsRunning_ = false;
 
 namespace armarx

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.ipp

@@ -24,13 +24,10 @@
 
 #include "RobotUnitModuleBase.h"
 
-namespace armarx
-{
-    namespace RobotUnitModule
+namespace armarx::RobotUnitModule
     {
         inline RobotUnitState ModuleBase::getRobotUnitState() const
         {
             return state;
         }
     }
-}

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.cpp

@@ -25,36 +25,33 @@
 #include "RobotUnitModuleManagement.h"
 #include <ArmarXCore/core/time/TimeUtil.h>
 
-namespace armarx
+namespace armarx::RobotUnitModule
 {
-    namespace RobotUnitModule
+    void Management::_preOnInitRobotUnit()
     {
-        void Management::_preOnInitRobotUnit()
-        {
-            throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            additionalObjectSchedulerCount = getProperty<std::uint64_t>("AdditionalObjectSchedulerCount").getValue();
-            heartbeatRequired              = getProperty<bool>("HeartbeatRequired").getValue();
-            heartbeatMaxCycleMS            = getProperty<long>("HeartbeatMaxCycleMS").getValue();
-            heartbeatStartupMarginMS       = getProperty<long>("HeartbeatStartupMarginMS").getValue();
-            getArmarXManager()->increaseSchedulers(static_cast<int>(additionalObjectSchedulerCount));
-
-            usingTopic(getProperty<std::string>("AggregatedRobotHealthTopicName").getValue());
-        }
+        throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+        additionalObjectSchedulerCount = getProperty<std::uint64_t>("AdditionalObjectSchedulerCount").getValue();
+        heartbeatRequired              = getProperty<bool>("HeartbeatRequired").getValue();
+        heartbeatMaxCycleMS            = getProperty<long>("HeartbeatMaxCycleMS").getValue();
+        heartbeatStartupMarginMS       = getProperty<long>("HeartbeatStartupMarginMS").getValue();
+        getArmarXManager()->increaseSchedulers(static_cast<int>(additionalObjectSchedulerCount));
+
+        usingTopic(getProperty<std::string>("AggregatedRobotHealthTopicName").getValue());
+    }
 
-        void Management::_postFinishControlThreadInitialization()
-        {
-            controlLoopStartTime = TimeUtil::GetTime(true).toMilliSeconds();
-        }
+    void Management::_postFinishControlThreadInitialization()
+    {
+        controlLoopStartTime = TimeUtil::GetTime(true).toMilliSeconds();
+    }
 
 
-        void Management::aggregatedHeartbeat(RobotHealthState overallHealthState, const Ice::Current&)
+    void Management::aggregatedHeartbeat(RobotHealthState overallHealthState, const Ice::Current&)
+    {
+        heartbeatRequired = true;
+        if (overallHealthState == RobotHealthState::HealthOK || overallHealthState == RobotHealthState::HealthWarning)
         {
-            heartbeatRequired = true;
-            if (overallHealthState == RobotHealthState::HealthOK || overallHealthState == RobotHealthState::HealthWarning)
-            {
-                lastHeartbeat = TimeUtil::GetTime(true).toMilliSeconds();
-            }
+            lastHeartbeat = TimeUtil::GetTime(true).toMilliSeconds();
         }
-
     }
+
 }