From d1e8e9559594703e9097ee67cfb3a0ec3468cb42 Mon Sep 17 00:00:00 2001
From: Nikhil Sethi <sethi.nirvil@gmail.com>
Date: Wed, 16 Oct 2024 15:59:45 +0200
Subject: [PATCH] Create more specific aliases (review #38)

---
 .../micro_epsilon_scancontrol_driver/driver.h | 37 +++++++++++--------
 .../src/driver.cpp                            | 16 ++++----
 2 files changed, 30 insertions(+), 23 deletions(-)

diff --git a/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h b/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h
index 3666323..e7b16db 100644
--- a/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h
+++ b/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h
@@ -34,12 +34,19 @@ typedef pcl::PointCloud<pcl::PointXYZI> point_cloud_t;
 
 namespace scancontrol_driver
 {   
-    // aliases
-    using set_duration_srv = micro_epsilon_scancontrol_msgs::srv::SetDuration;
-    using get_duration_srv = micro_epsilon_scancontrol_msgs::srv::GetDuration;
 
     class ScanControlDriver: public rclcpp::Node
     {
+        // aliases
+        using SetDurationSrv = micro_epsilon_scancontrol_msgs::srv::SetDuration;
+        using SetDurationRequest = SetDurationSrv::Request;
+        using SetDurationResponse = SetDurationSrv::Response;
+        
+        using GetDurationSrv = micro_epsilon_scancontrol_msgs::srv::GetDuration;
+        using GetDurationRequest = GetDurationSrv::Request;
+        using GetDurationResponse = GetDurationSrv::Response;
+        
+
         public:
             // Constructor and destructor
             explicit ScanControlDriver(const std::string& name);
@@ -85,17 +92,17 @@ namespace scancontrol_driver
                 const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
                 std::shared_ptr<std_srvs::srv::SetBool::Response> response);
             void ServiceSetExposureDuration(
-                const std::shared_ptr<set_duration_srv::Request> request,
-                std::shared_ptr<set_duration_srv::Response> response);
+                const std::shared_ptr<SetDurationRequest> request,
+                std::shared_ptr<SetDurationResponse> response);
             void ServiceGetExposureDuration(
-                const std::shared_ptr<get_duration_srv::Request> request,
-                std::shared_ptr<get_duration_srv::Response> response);
+                const std::shared_ptr<GetDurationRequest> request,
+                std::shared_ptr<GetDurationResponse> response);
             void ServiceSetIdleDuration(
-                const std::shared_ptr<set_duration_srv::Request> request,
-                std::shared_ptr<set_duration_srv::Response> response);
+                const std::shared_ptr<SetDurationRequest> request,
+                std::shared_ptr<SetDurationResponse> response);
             void ServiceGetIdleDuration(
-                const std::shared_ptr<get_duration_srv::Request> request,
-                std::shared_ptr<get_duration_srv::Response> response);
+                const std::shared_ptr<GetDurationRequest> request,
+                std::shared_ptr<GetDurationResponse> response);
             
         private:
             // Profile functions
@@ -125,10 +132,10 @@ namespace scancontrol_driver
             rclcpp::Service<micro_epsilon_scancontrol_msgs::srv::GetResolution>::SharedPtr get_resolution_srv;
             rclcpp::Service<micro_epsilon_scancontrol_msgs::srv::SetResolution>::SharedPtr set_resolution_srv;
             rclcpp::Service<micro_epsilon_scancontrol_msgs::srv::GetAvailableResolutions>::SharedPtr get_available_resolutions_srv;
-            rclcpp::Service<set_duration_srv>::SharedPtr set_exposure_duration_srv;
-            rclcpp::Service<get_duration_srv>::SharedPtr get_exposure_duration_srv;
-            rclcpp::Service<set_duration_srv>::SharedPtr set_idle_duration_srv;
-            rclcpp::Service<get_duration_srv>::SharedPtr get_idle_duration_srv;
+            rclcpp::Service<SetDurationSrv>::SharedPtr set_exposure_duration_srv;
+            rclcpp::Service<GetDurationSrv>::SharedPtr get_exposure_duration_srv;
+            rclcpp::Service<SetDurationSrv>::SharedPtr set_idle_duration_srv;
+            rclcpp::Service<GetDurationSrv>::SharedPtr get_idle_duration_srv;
             rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr invert_z_srv;
             rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr invert_x_srv;
 
diff --git a/micro_epsilon_scancontrol_driver/src/driver.cpp b/micro_epsilon_scancontrol_driver/src/driver.cpp
index b9f0fe7..dc0697d 100644
--- a/micro_epsilon_scancontrol_driver/src/driver.cpp
+++ b/micro_epsilon_scancontrol_driver/src/driver.cpp
@@ -618,8 +618,8 @@ namespace scancontrol_driver
 
     // a wrapper on setfeature to use proper encoding 
     void ScanControlDriver::ServiceSetExposureDuration(
-        const std::shared_ptr<set_duration_srv::Request> request,
-        std::shared_ptr<set_duration_srv::Response> response){
+        const std::shared_ptr<SetDurationRequest> request,
+        std::shared_ptr<SetDurationResponse> response){
         
         int ret_code = SetDuration(FEATURE_FUNCTION_EXPOSURE_TIME, request->duration);
         response->success = !(ret_code < GENERAL_FUNCTION_OK);
@@ -628,16 +628,16 @@ namespace scancontrol_driver
 
     // a wrapper on getfeature to use proper decoding
     void ScanControlDriver::ServiceGetExposureDuration(
-        const std::shared_ptr<get_duration_srv::Request> request,
-        std::shared_ptr<get_duration_srv::Response> response){
+        const std::shared_ptr<GetDurationRequest> request,
+        std::shared_ptr<GetDurationResponse> response){
         response->return_code = GetDuration(FEATURE_FUNCTION_EXPOSURE_TIME, &(response->duration));
         response->success = !(response->return_code < GENERAL_FUNCTION_OK);
     }
 
         // a wrapper on setfeature to use proper encoding 
     void ScanControlDriver::ServiceSetIdleDuration(
-        const std::shared_ptr<set_duration_srv::Request> request,
-        std::shared_ptr<set_duration_srv::Response> response){
+        const std::shared_ptr<SetDurationRequest> request,
+        std::shared_ptr<SetDurationResponse> response){
         
         int ret_code = SetDuration(FEATURE_FUNCTION_IDLE_TIME, request->duration);
         response->success = !(ret_code < GENERAL_FUNCTION_OK);
@@ -646,8 +646,8 @@ namespace scancontrol_driver
 
     // a wrapper on getfeature to use proper decoding
     void ScanControlDriver::ServiceGetIdleDuration(
-        const std::shared_ptr<get_duration_srv::Request> request,
-        std::shared_ptr<get_duration_srv::Response> response){
+        const std::shared_ptr<GetDurationRequest> request,
+        std::shared_ptr<GetDurationResponse> response){
         response->return_code = GetDuration(FEATURE_FUNCTION_IDLE_TIME, &(response->duration));
         response->success = !(response->return_code < GENERAL_FUNCTION_OK);
     }