Rename InputPort to InputPortValue (RobotLocomotion#5533)

* Rename InputPort to InputPortValue and clarify some comments. * Rename Context::Set/GetInputPort to Set/GetInputPortValue. Line length, variable name, and comment fixes. * Minor name fix. * Line length fixes. * Renamed system_input files to input_port_value. * Realphabetize header file lists. * Fix odd indentation & sorting. * Renamed system_output files to corresponding output_port_value files. * CMake fix. * Change dangerous version of FixInputPort to be safe with respect to invalidation.
Raptura · Mar 21, 2017 · 341ca0f · 341ca0f
1 parent 4d6ef1f
commit 341ca0f
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Showing 68 changed files with 475 additions and 438 deletions.
diff --git a/drake/automotive/test/simple_car_to_euler_floating_joint_test.cc b/drake/automotive/test/simple_car_to_euler_floating_joint_test.cc
@@ -22,8 +22,9 @@ GTEST_TEST(SimpleCarToEulerFloatingJointTest, BasicTest) {
   value->set_x(11.0);
   value->set_y(22.0);
   value->set_heading(33.0);
-  context->SetInputPort(
-      0, std::make_unique<systems::FreestandingInputPort>(std::move(value)));
+  context->SetInputPortValue(
+      0,
+      std::make_unique<systems::FreestandingInputPortValue>(std::move(value)));
 
   // Grab a pointer to where the CalcOutput results end up.
   const EulerFloatingJointState<double>* const result =
@@ -71,8 +72,9 @@ GTEST_TEST(SimpleCarToEulerFloatingJointTest, XOriginOffsetTest) {
     value->set_x(kX);
     value->set_y(kY);
     value->set_heading(kZeroHeading);
-    context->SetInputPort(
-        0, std::make_unique<systems::FreestandingInputPort>(std::move(value)));
+    context->SetInputPortValue(
+        0, std::make_unique<systems::FreestandingInputPortValue>(
+               std::move(value)));
   }
 
   dut->CalcOutput(*context, output.get());
@@ -91,8 +93,9 @@ GTEST_TEST(SimpleCarToEulerFloatingJointTest, XOriginOffsetTest) {
     value->set_x(kX);
     value->set_y(kY);
     value->set_heading(kLeftHeading);
-    context->SetInputPort(
-        0, std::make_unique<systems::FreestandingInputPort>(std::move(value)));
+    context->SetInputPortValue(
+        0, std::make_unique<systems::FreestandingInputPortValue>(
+               std::move(value)));
   }
 
   dut->CalcOutput(*context, output.get());

diff --git a/drake/examples/Acrobot/test/acrobot_urdf_dynamics_test.cc b/drake/examples/Acrobot/test/acrobot_urdf_dynamics_test.cc
@@ -28,8 +28,8 @@ GTEST_TEST(UrdfDynamicsTest, AllTests) {
   auto context_rbp = rbp.CreateDefaultContext();
   auto context_p = p.CreateDefaultContext();
 
-  auto u_rbp = context_rbp->FixInputPort(0, Vector1d::Zero());
-  auto u_p = context_p->FixInputPort(0, Vector1d::Zero());
+  auto& u_rbp = context_rbp->FixInputPort(0, Vector1d::Zero());
+  auto& u_p = context_p->FixInputPort(0, Vector1d::Zero());
 
   Eigen::Vector4d x;
   Vector1d u;
@@ -46,8 +46,8 @@ GTEST_TEST(UrdfDynamicsTest, AllTests) {
     context_rbp->get_mutable_continuous_state_vector()->SetFromVector(x);
     context_p->get_mutable_continuous_state_vector()->SetFromVector(x);
 
-    u_rbp->SetFromVector(u);
-    u_p->SetFromVector(u);
+    u_rbp.GetMutableVectorData<double>()->SetFromVector(u);
+    u_p.GetMutableVectorData<double>()->SetFromVector(u);
 
     rbp.CalcTimeDerivatives(*context_rbp, xdot_rbp.get());
     p.CalcTimeDerivatives(*context_p, xdot_p.get());

diff --git a/drake/examples/Pendulum/BUILD b/drake/examples/Pendulum/BUILD
@@ -96,6 +96,7 @@ drake_cc_binary(
     data = [":models"],
     test_rule_args = ["--target_realtime_rate=0.0"],
     deps = [
+        "@gflags//:gflags",
         "pendulum_swing_up",
         "//drake/common:drake_path",
         "//drake/common:is_approx_equal_abstol",
@@ -108,7 +109,6 @@ drake_cc_binary(
         "//drake/systems/framework",
         "//drake/systems/primitives:trajectory_source",
         "//drake/systems/trajectory_optimization:direct_collocation",
-        "@gflags//:gflags",
     ],
 )
 

diff --git a/drake/examples/Pendulum/pendulum_run_lqr.cc b/drake/examples/Pendulum/pendulum_run_lqr.cc
@@ -13,8 +13,8 @@
 #include "drake/systems/framework/basic_vector.h"
 #include "drake/systems/framework/diagram.h"
 #include "drake/systems/framework/diagram_builder.h"
+#include "drake/systems/framework/input_port_value.h"
 #include "drake/systems/framework/leaf_system.h"
-#include "drake/systems/framework/system_input.h"
 
 namespace drake {
 namespace examples {

diff --git a/drake/examples/Pendulum/test/pendulum_urdf_dynamics_test.cc b/drake/examples/Pendulum/test/pendulum_urdf_dynamics_test.cc
@@ -26,8 +26,8 @@ GTEST_TEST(UrdfDynamicsTest, AllTests) {
   auto context_rbp = rbp.CreateDefaultContext();
   auto context_p = p.CreateDefaultContext();
 
-  auto u_rbp = context_rbp->FixInputPort(0, Vector1d::Zero());
-  auto u_p = context_p->FixInputPort(0, Vector1d::Zero());
+  auto& u_rbp = context_rbp->FixInputPort(0, Vector1d::Zero());
+  auto& u_p = context_p->FixInputPort(0, Vector1d::Zero());
 
   Eigen::Vector2d x;
   Vector1d u;
@@ -41,8 +41,8 @@ GTEST_TEST(UrdfDynamicsTest, AllTests) {
     context_rbp->get_mutable_continuous_state_vector()->SetFromVector(x);
     context_p->get_mutable_continuous_state_vector()->SetFromVector(x);
 
-    u_rbp->SetFromVector(u);
-    u_p->SetFromVector(u);
+    u_rbp.GetMutableVectorData<double>()->SetFromVector(u);
+    u_p.GetMutableVectorData<double>()->SetFromVector(u);
 
     rbp.CalcTimeDerivatives(*context_rbp, xdot_rbp.get());
     p.CalcTimeDerivatives(*context_p, xdot_p.get());

diff --git a/drake/examples/schunk_wsg/test/schunk_wsg_lcm_test.cc b/drake/examples/schunk_wsg/test/schunk_wsg_lcm_test.cc
@@ -6,8 +6,8 @@
 
 #include "drake/lcmt_schunk_wsg_command.hpp"
 #include "drake/systems/analysis/simulator.h"
-#include "drake/systems/framework/system_input.h"
-#include "drake/systems/framework/system_output.h"
+#include "drake/systems/framework/input_port_value.h"
+#include "drake/systems/framework/output_port_value.h"
 
 namespace drake {
 namespace examples {
@@ -26,11 +26,11 @@ GTEST_TEST(SchunkWsgLcmTest, SchunkWsgTrajectoryGeneratorTest) {
   lcmt_schunk_wsg_command initial_command{};
   initial_command.target_position_mm = 100;
   initial_command.force = 40;
-  std::unique_ptr<systems::FreestandingInputPort> input_command =
-      std::make_unique<systems::FreestandingInputPort>(
+  std::unique_ptr<systems::FreestandingInputPortValue> input_command =
+      std::make_unique<systems::FreestandingInputPortValue>(
           std::make_unique<systems::Value<lcmt_schunk_wsg_command>>(
               initial_command));
-  context->SetInputPort(0, std::move(input_command));
+  context->SetInputPortValue(0, std::move(input_command));
   context->FixInputPort(1, Eigen::VectorXd::Zero(1));
 
   // Step a little bit. We should be commanding a point on the

diff --git a/drake/multibody/rigid_body_plant/drake_visualizer.h b/drake/multibody/rigid_body_plant/drake_visualizer.h
@@ -12,7 +12,7 @@
 #include "drake/multibody/rigid_body_tree.h"
 #include "drake/systems/framework/context.h"
 #include "drake/systems/framework/leaf_system.h"
-#include "drake/systems/framework/system_output.h"
+#include "drake/systems/framework/output_port_value.h"
 #include "drake/systems/primitives/signal_log.h"
 
 namespace drake {

diff --git a/drake/multibody/rigid_body_plant/test/drake_visualizer_test.cc b/drake/multibody/rigid_body_plant/test/drake_visualizer_test.cc
@@ -478,8 +478,9 @@ GTEST_TEST(DrakeVisualizerTests, BasicTest) {
   auto input_data = make_unique<BasicVector<double>>(vector_size);
   input_data->set_value(Eigen::VectorXd::Zero(vector_size));
 
-  context->SetInputPort(0,
-      std::make_unique<systems::FreestandingInputPort>(std::move(input_data)));
+  context->SetInputPortValue(
+      0, std::make_unique<systems::FreestandingInputPortValue>(
+             std::move(input_data)));
 
   // Publishes the `RigidBodyTree` visualization messages.
   dut.Publish(*context.get());

diff --git a/drake/systems/controllers/test/inverse_dynamics_controller_test.cc b/drake/systems/controllers/test/inverse_dynamics_controller_test.cc
@@ -15,7 +15,7 @@
 #include "drake/multibody/parsers/urdf_parser.h"
 #include "drake/multibody/rigid_body_tree.h"
 #include "drake/systems/framework/basic_vector.h"
-#include "drake/systems/framework/system_input.h"
+#include "drake/systems/framework/input_port_value.h"
 
 namespace drake {
 namespace systems {

diff --git a/drake/systems/controllers/test/inverse_dynamics_test.cc b/drake/systems/controllers/test/inverse_dynamics_test.cc
@@ -15,7 +15,7 @@
 #include "drake/multibody/parsers/urdf_parser.h"
 #include "drake/multibody/rigid_body_tree.h"
 #include "drake/systems/framework/basic_vector.h"
-#include "drake/systems/framework/system_input.h"
+#include "drake/systems/framework/input_port_value.h"
 
 using Eigen::AutoDiffScalar;
 using Eigen::VectorXd;

diff --git a/drake/systems/controllers/test/pid_controller_test.cc b/drake/systems/controllers/test/pid_controller_test.cc
@@ -6,7 +6,7 @@
 
 #include "drake/common/eigen_types.h"
 #include "drake/systems/framework/basic_vector.h"
-#include "drake/systems/framework/system_input.h"
+#include "drake/systems/framework/input_port_value.h"
 
 using std::make_unique;
 

diff --git a/drake/systems/framework/BUILD b/drake/systems/framework/BUILD
@@ -162,9 +162,9 @@ drake_cc_library(
 )
 
 drake_cc_library(
-    name = "system_output",
-    srcs = ["system_output.cc"],
-    hdrs = ["system_output.h"],
+    name = "output_port_value",
+    srcs = ["output_port_value.cc"],
+    hdrs = ["output_port_value.h"],
     deps = [
         ":output_port_listener_interface",
         ":value",
@@ -179,16 +179,16 @@ drake_cc_library(
     srcs = ["input_port_evaluator_interface.cc"],
     hdrs = ["input_port_evaluator_interface.h"],
     deps = [
-        ":system_output",
+        ":output_port_value",
         ":system_port_descriptor",
         "//drake/common",
     ],
 )
 
 drake_cc_library(
-    name = "system_input",
-    srcs = ["system_input.cc"],
-    hdrs = ["system_input.h"],
+    name = "input_port_value",
+    srcs = ["input_port_value.cc"],
+    hdrs = ["input_port_value.h"],
     deps = [
         ":input_port_evaluator_interface",
         ":vector",
@@ -202,9 +202,9 @@ drake_cc_library(
     hdrs = ["context.h"],
     deps = [
         ":input_port_evaluator_interface",
+        ":input_port_value",
         ":parameters",
         ":state",
-        ":system_input",
         "//drake/common",
     ],
 )
@@ -480,17 +480,17 @@ drake_cc_googletest(
 )
 
 drake_cc_googletest(
-    name = "system_input_test",
+    name = "input_port_value_test",
     deps = [
-        ":system_input",
+        ":input_port_value",
         "//drake/common",
     ],
 )
 
 drake_cc_googletest(
-    name = "system_output_test",
+    name = "output_port_value_test",
     deps = [
-        ":system_output",
+        ":output_port_value",
         "//drake/common",
     ],
 )

diff --git a/drake/systems/framework/CMakeLists.txt b/drake/systems/framework/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Source files used to build drakeSystemFramework.
 set(sources
-        abstract_values.cc
+  abstract_values.cc
   basic_vector.cc
   cache.cc
   context.cc
@@ -11,10 +11,12 @@ set(sources
   diagram_continuous_state.cc
   discrete_state.cc
   input_port_evaluator_interface.cc
+  input_port_value.cc
   leaf_context.cc
   leaf_system.cc
   model_values.cc
   output_port_listener_interface.cc
+  output_port_value.cc
   parameters.cc
   single_output_vector_source.cc
   siso_vector_system.cc
@@ -23,8 +25,6 @@ set(sources
   subvector.cc
   supervector.cc
   system.cc
-  system_input.cc
-  system_output.cc
   system_port_descriptor.cc
   value.cc
   vector_base.cc
@@ -40,7 +40,7 @@ set(sources
 # System2 framework template implementations have been moved into .cc files
 # using explicit instantiation, tighten this list.
 set(installed_headers
-        abstract_values.h
+  abstract_values.h
   basic_vector.h
   cache.h
   context.h
@@ -51,10 +51,12 @@ set(installed_headers
   diagram_continuous_state.h
   discrete_state.h
   input_port_evaluator_interface.h
+  input_port_value.h
   leaf_context.h
   leaf_system.h
   model_values.h
   output_port_listener_interface.h
+  output_port_value.h
   parameters.h
   single_output_vector_source.h
   siso_vector_system.h
@@ -63,8 +65,6 @@ set(installed_headers
   subvector.h
   supervector.h
   system.h
-  system_input.h
-  system_output.h
   system_port_descriptor.h
   systems.h
   value.h