Refactor laser includes and singleton

plugins/laser/CMakeLists.txt

@@ -1,19 +1,21 @@
-project(laser)
-
-add_subdirectory(singleton-laser)
+add_subdirectory(singleton)
 
 add_library(gz-sim-yarp-laser-system SHARED Laser.cc LaserDriver.cpp)
+
+target_include_directories(gz-sim-yarp-laser-system
+    PUBLIC  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
 target_compile_features(gz-sim-yarp-laser-system PRIVATE cxx_std_17)
 
 target_link_libraries(gz-sim-yarp-laser-system
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
   PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
   PRIVATE
-    ${YARP_LIBRARIES}
+    YARP::YARP_dev
     YARP::YARP_os
     YARP::YARP_init
     gz-sim-yarp-handler
-    gz-sim-yarp-handler-laser)
+    gz-sim-yarp-laser-singleton)
 
 # Add install target
 install(TARGETS gz-sim-yarp-laser-system)

plugins/laser/Laser.cc

@@ -1,4 +1,4 @@
-#include "LaserDriver.cpp"
+#include <LaserDriver.cpp>
 
 #include <gz/msgs.hh>
 #include <gz/plugin/Register.hh>
@@ -47,7 +47,7 @@ class Laser : public System,
 
         if (m_laserDriver.isValid())
             m_laserDriver.close();
-        HandlerLaser::getHandler()->removeSensor(sensorScopedName);
+        LaserDataSingleton::getHandler()->removeSensor(sensorScopedName);
         yarp::os::Network::fini();
     }
 
@@ -112,7 +112,7 @@ class Laser : public System,
         }
 
         // Insert the pointer in the singleton handler for retriving it in the yarp driver
-        HandlerLaser::getHandler()->setSensor(&(this->laserData));
+        LaserDataSingleton::getHandler()->setSensor(&(this->laserData));
 
         driver_properties.put("device", "gazebo_laser");
         driver_properties.put("sensor_name", sensorName);

plugins/laser/LaserDriver.cpp

@@ -1,7 +1,8 @@
-#include "../../libraries/singleton-devices/Handler.hh"
-#include "singleton-laser/Handler.hh"
-#include <iostream>
+#include <Handler.hh>
+#include <LaserDataSingleton.hh>
+
 #include <mutex>
+
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IRangefinder2D.h>
 #include <yarp/dev/LaserMeasurementData.h>
@@ -48,7 +49,7 @@ class yarp::dev::gzyarp::LaserDriver : public yarp::dev::Lidar2DDeviceBase,
             m_sensorName = config.find("sensor_name").asString().substr(pos + separator.size() - 1);
         }
         m_frameName = m_sensorName;
-        m_sensorData = ::gzyarp::HandlerLaser::getHandler()->getSensor(sensorScopedName);
+        m_sensorData = ::gzyarp::LaserDataSingleton::getHandler()->getSensor(sensorScopedName);
 
         if (!m_sensorData)
         {

plugins/laser/singleton/CMakeLists.txt

@@ -0,0 +1,18 @@
+
+add_library(gz-sim-yarp-laser-singleton SHARED LaserDataSingleton.hh LaserDataSingleton.cc)
+
+target_include_directories(gz-sim-yarp-laser-singleton
+    PUBLIC  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+
+target_compile_features(gz-sim-yarp-laser-singleton PRIVATE cxx_std_17)
+
+target_link_libraries(gz-sim-yarp-laser-singleton
+  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+  PRIVATE
+    YARP::YARP_dev
+    YARP::YARP_os
+    YARP::YARP_init)
+
+# Add install target
+install(TARGETS gz-sim-yarp-laser-singleton)

plugins/laser/singleton-laser/Handler.cc → plugins/laser/singleton/LaserDataSingleton.cc

@@ -1,24 +1,25 @@
-#include "Handler.hh"
+#include <LaserDataSingleton.hh>
+
 #include <yarp/os/Log.h>
 #include <yarp/os/LogStream.h>
 
 namespace gzyarp
 {
 
-HandlerLaser* HandlerLaser::getHandler()
+LaserDataSingleton* LaserDataSingleton::getHandler()
 {
     std::lock_guard<std::mutex> lock(mutex());
     if (!s_handle)
     {
-        s_handle = new HandlerLaser();
+        s_handle = new LaserDataSingleton();
         if (!s_handle)
             yError() << "Error while calling gzyarp::HandlerLaser constructor";
     }
 
     return s_handle;
 }
 
-bool HandlerLaser::setSensor(LaserData* _sensorDataPtr)
+bool LaserDataSingleton::setSensor(LaserData* _sensorDataPtr)
 {
     bool ret = false;
     std::string sensorScopedName = _sensorDataPtr->sensorScopedName;
@@ -45,7 +46,7 @@ bool HandlerLaser::setSensor(LaserData* _sensorDataPtr)
     return ret;
 }
 
-LaserData* HandlerLaser::getSensor(const std::string& sensorScopedName) const
+LaserData* LaserDataSingleton::getSensor(const std::string& sensorScopedName) const
 {
     LaserData* tmp;
 
@@ -61,7 +62,7 @@ LaserData* HandlerLaser::getSensor(const std::string& sensorScopedName) const
     return tmp;
 }
 
-void HandlerLaser::removeSensor(const std::string& sensorName)
+void LaserDataSingleton::removeSensor(const std::string& sensorName)
 {
     SensorsMap::iterator sensor = m_sensorsMap.find(sensorName);
     if (sensor != m_sensorsMap.end())
@@ -73,15 +74,15 @@ void HandlerLaser::removeSensor(const std::string& sensorName)
     }
 }
 
-HandlerLaser::HandlerLaser()
+LaserDataSingleton::LaserDataSingleton()
     : m_sensorsMap()
 {
     m_sensorsMap.clear();
 }
 
-HandlerLaser* HandlerLaser::s_handle = NULL;
+LaserDataSingleton* LaserDataSingleton::s_handle = NULL;
 
-std::mutex& HandlerLaser::mutex()
+std::mutex& LaserDataSingleton::mutex()
 {
     static std::mutex s_mutex;
     return s_mutex;

plugins/laser/singleton-laser/Handler.hh → plugins/laser/singleton/LaserDataSingleton.hh

@@ -1,7 +1,9 @@
-#include <gz/common/Event.hh>
 #include <mutex>
 #include <string>
 #include <vector>
+
+#include <gz/common/Event.hh>
+
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/PolyDriverList.h>
 
@@ -16,10 +18,10 @@ struct LaserData
 namespace gzyarp
 {
 
-class HandlerLaser
+class LaserDataSingleton
 {
 public:
-    static HandlerLaser* getHandler();
+    static LaserDataSingleton* getHandler();
 
     bool setSensor(LaserData* _sensorDataPtr);
 
@@ -28,8 +30,8 @@ public:
     void removeSensor(const std::string& sensorName);
 
 private:
-    HandlerLaser();
-    static HandlerLaser* s_handle;
+    LaserDataSingleton();
+    static LaserDataSingleton* s_handle;
     static std::mutex& mutex();
     typedef std::map<std::string, LaserData*> SensorsMap;
     SensorsMap m_sensorsMap; // map of known sensors