ros-industrial · galou · Aug 8, 2025 · Aug 8, 2025 · Aug 8, 2025 · Aug 8, 2025
diff --git a/canopen_core/include/canopen_core/configuration_manager.hpp b/canopen_core/include/canopen_core/configuration_manager.hpp
@@ -13,8 +13,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef CONFIGURATION_MANAGER_HPP
-#define CONFIGURATION_MANAGER_HPP
+#ifndef CANOPEN_CORE__CONFIGURATION_MANAGER_HPP_
+#define CANOPEN_CORE__CONFIGURATION_MANAGER_HPP_
 
 #include <iostream>
 #include <map>
@@ -108,4 +108,4 @@ class ConfigurationManager
 };
 }  // namespace ros2_canopen
 
-#endif
+#endif // CANOPEN_CORE__CONFIGURATION_MANAGER_HPP_
diff --git a/canopen_core/include/canopen_core/device_container.hpp b/canopen_core/include/canopen_core/device_container.hpp
@@ -13,8 +13,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef LIFECYCLE_DEVICE_CONTAINER_NODE_HPP
-#define LIFECYCLE_DEVICE_CONTAINER_NODE_HPP
+#ifndef CANOPEN_CORE__DEVICE_CONTAINER_HPP_
+#define CANOPEN_CORE__DEVICE_CONTAINER_HPP_
 
 #include <chrono>
 #include <memory>
@@ -149,11 +149,11 @@ class DeviceContainer : public rclcpp_components::ComponentManager
    */
   virtual void shutdown()
   {
-    for (auto it = registered_drivers_.begin(); it != registered_drivers_.end(); ++it)
+    for (auto & [_, interface] : registered_drivers_)
     {
       try
       {
-        it->second->shutdown();
+        interface->shutdown();
       }
       catch (const std::exception & e)
       {
@@ -267,7 +267,7 @@ class DeviceContainer : public rclcpp_components::ComponentManager
 protected:
   // Components
   std::map<uint16_t, std::shared_ptr<CanopenDriverInterface>>
-    registered_drivers_;  ///< Map of drivers registered in busconfiguration. Name is key.
+    registered_drivers_;  ///< Map of drivers registered in busconfiguration. NodeID is key.
   std::shared_ptr<ros2_canopen::CanopenMasterInterface>
     can_master_;  ///< Pointer to can master instance
   uint16_t can_master_id_;
@@ -353,4 +353,4 @@ class DeviceContainer : public rclcpp_components::ComponentManager
 };
 
 }  // namespace ros2_canopen
-#endif  // LIFECYCLE_DEVICE_CONTAINER_NODE_HPP
+#endif  // CANOPEN_CORE__DEVICE_CONTAINER_HPP_
diff --git a/canopen_core/include/canopen_core/device_container_error.hpp b/canopen_core/include/canopen_core/device_container_error.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef DEVICE_CONTAINER_ERROR_HPP_
-#define DEVICE_CONTAINER_ERROR_HPP_
+#ifndef CANOPEN_CORE__DEVICE_CONTAINER_ERROR_HPP_
+#define CANOPEN_CORE__DEVICE_CONTAINER_ERROR_HPP_
 
 #include <string>
 #include <system_error>
@@ -41,4 +41,4 @@ class DeviceContainerException : public std::exception
 
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__DEVICE_CONTAINER_ERROR_HPP_
diff --git a/canopen_core/include/canopen_core/driver_error.hpp b/canopen_core/include/canopen_core/driver_error.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef DRIVER_ERROR_HPP_
-#define DRIVER_ERROR_HPP_
+#ifndef CANOPEN_CORE__DRIVER_ERROR_HPP_
+#define CANOPEN_CORE__DRIVER_ERROR_HPP_
 
 #include <string>
 #include <system_error>
@@ -40,4 +40,4 @@ class DriverException : public std::exception
 
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__DRIVER_ERROR_HPP_
diff --git a/canopen_core/include/canopen_core/driver_node.hpp b/canopen_core/include/canopen_core/driver_node.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef DRIVER_NODE_HPP_
-#define DRIVER_NODE_HPP_
+#ifndef CANOPEN_CORE__DRIVER_NODE_HPP_
+#define CANOPEN_CORE__DRIVER_NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 #include "canopen_core/node_interfaces/node_canopen_driver.hpp"
@@ -325,4 +325,4 @@ class LifecycleCanopenDriver : public CanopenDriverInterface, public rclcpp_life
 
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__DRIVER_NODE_HPP_
diff --git a/canopen_core/include/canopen_core/exchange.hpp b/canopen_core/include/canopen_core/exchange.hpp
@@ -12,8 +12,8 @@
 //    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
-#ifndef EXCHANGE_HPP
-#define EXCHANGE_HPP
+#ifndef CANOPEN_CORE__EXCHANGE_HPP_
+#define CANOPEN_CORE__EXCHANGE_HPP_
 
 #include <boost/lockfree/queue.hpp>
 #include <boost/optional.hpp>
@@ -151,4 +151,4 @@ class SafeQueue
 };
 }  // namespace ros2_canopen
 
-#endif  // EXCHANGE_HPP
+#endif  // CANOPEN_CORE__EXCHANGE_HPP_
diff --git a/canopen_core/include/canopen_core/lifecycle_manager.hpp b/canopen_core/include/canopen_core/lifecycle_manager.hpp
@@ -12,8 +12,8 @@
 //    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
-#ifndef LIFECYCLE_DEVICE_MANAGER_NODE_HPP
-#define LIFECYCLE_DEVICE_MANAGER_NODE_HPP
+#ifndef CANOPEN_CORE__LIFECYCLE_MANAGER_HPP_
+#define CANOPEN_CORE__LIFECYCLE_MANAGER_HPP_
 
 #include <chrono>
 #include <memory>
@@ -163,13 +163,13 @@ class LifecycleManager : public rclcpp_lifecycle::LifecycleNode
   template <typename FutureT, typename WaitTimeT>
   std::future_status wait_for_result(FutureT & future, WaitTimeT time_to_wait)
   {
-    auto end = std::chrono::steady_clock::now() + time_to_wait;
-    std::chrono::milliseconds wait_period(100);
+    const auto end = std::chrono::steady_clock::now() + time_to_wait;
+    const std::chrono::milliseconds wait_period(100);
     std::future_status status = std::future_status::timeout;
     do
     {
-      auto now = std::chrono::steady_clock::now();
-      auto time_left = end - now;
+      const auto now = std::chrono::steady_clock::now();
+      const auto time_left = end - now;
       if (time_left <= std::chrono::seconds(0))
       {
         break;
@@ -248,8 +248,8 @@ class LifecycleManager : public rclcpp_lifecycle::LifecycleNode
   /**
    * @brief Brings up the drivers with specified node_id
    *
-   * This function bringsup the CANopen driver for the device with the specified
-   * node_id. The driver is transitioned twice,
+   * This function brings up the CANopen driver for the device with the specified
+   * name. The driver is transitioned twice,
    * first the configure transition is triggered. Once the transition is successfully
    * finished, the activate transition is triggered.
    *
@@ -263,7 +263,7 @@ class LifecycleManager : public rclcpp_lifecycle::LifecycleNode
    * @brief Brings down the driver with specified node_id
    *
    * This function brings down the CANopen driver for the device with the specified
-   * node_id. The driver is transitioned twice,
+   * name. The driver is transitioned twice,
    * first the deactivate transition is triggered. Once the transition is successfully
    * finished, the cleanup transition is triggered.
    *
@@ -286,4 +286,4 @@ class LifecycleManager : public rclcpp_lifecycle::LifecycleNode
 };
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__LIFECYCLE_MANAGER_HPP_
diff --git a/canopen_core/include/canopen_core/master_error.hpp b/canopen_core/include/canopen_core/master_error.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef MASTER_ERROR_HPP_
-#define MASTER_ERROR_HPP_
+#ifndef CANOPEN_CORE__MASTER_ERROR_HPP_
+#define CANOPEN_CORE__MASTER_ERROR_HPP_
 
 #include <system_error>
 
@@ -38,4 +38,4 @@ class MasterException : public std::exception
 };
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__MASTER_ERROR_HPP_
diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef NODE_CANOPEN_DRIVER_HPP_
-#define NODE_CANOPEN_DRIVER_HPP_
+#ifndef CANOPEN_CORE__NODE_CANOPEN_DRIVER_HPP_
+#define CANOPEN_CORE__NODE_CANOPEN_DRIVER_HPP_
 
 #include <yaml-cpp/yaml.h>
 #include <atomic>
@@ -388,4 +388,4 @@ class NodeCanopenDriver : public NodeCanopenDriverInterface
 }  // namespace node_interfaces
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__NODE_CANOPEN_DRIVER_HPP_
diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver_interface.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver_interface.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef NODE_CANOPEN_DRIVER_INTERFACE_HPP_
-#define NODE_CANOPEN_DRIVER_INTERFACE_HPP_
+#ifndef CANOPEN_CORE__NODE_CANOPEN_DRIVER_INTERFACE_HPP_
+#define CANOPEN_CORE__NODE_CANOPEN_DRIVER_INTERFACE_HPP_
 
 #include <lely/coapp/master.hpp>
 #include <lely/ev/exec.hpp>
@@ -122,4 +122,4 @@ class NodeCanopenDriverInterface
 }  // namespace node_interfaces
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__NODE_CANOPEN_DRIVER_INTERFACE_HPP_
diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef NODE_CANOPEN_MASTER_HPP_
-#define NODE_CANOPEN_MASTER_HPP_
+#ifndef CANOPEN_CORE__NODE_CANOPEN_MASTER_HPP_
+#define CANOPEN_CORE__NODE_CANOPEN_MASTER_HPP_
 
 #include <yaml-cpp/yaml.h>
 #include <atomic>
@@ -389,4 +389,4 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface
 }  // namespace node_interfaces
 }  // namespace ros2_canopen
 
-#endif
+#endif  // CANOPEN_CORE__NODE_CANOPEN_MASTER_HPP_
diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_master_interface.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_master_interface.hpp
@@ -12,8 +12,8 @@
 //    See the License for the specific language governing permissions and
 //    limitations under the License.
 
-#ifndef NODE_CANOPEN_MASTER_INTERFACE_HPP_
-#define NODE_CANOPEN_MASTER_INTERFACE_HPP_
+#ifndef CANOPEN_CORE__NODE_CANOPEN_MASTER_INTERFACE_HPP_
+#define CANOPEN_CORE__NODE_CANOPEN_MASTER_INTERFACE_HPP_
 
 #include <lely/coapp/master.hpp>
 #include <lely/ev/exec.hpp>
@@ -97,4 +97,5 @@ class NodeCanopenMasterInterface
 };
 }  // namespace node_interfaces
 }  // namespace ros2_canopen
-#endif
+
+#endif  // CANOPEN_CORE__NODE_CANOPEN_MASTER_INTERFACE_HPP_
diff --git a/canopen_core/src/lifecycle_manager.cpp b/canopen_core/src/lifecycle_manager.cpp
@@ -70,20 +70,20 @@ void LifecycleManager::init(std::shared_ptr<ros2_canopen::ConfigurationManager>
 
 bool LifecycleManager::load_from_config()
 {
-  std::vector<std::string> devices;
-  uint32_t count = this->config_->get_all_devices(devices);
+  std::vector<std::string> device_names;
+  uint32_t count = this->config_->get_all_devices(device_names);
   RCLCPP_INFO(this->get_logger(), "Configuring for %u devices.", count);
 
   // Find master in configuration
-  for (auto it = devices.begin(); it != devices.end(); it++)
+  for (const auto & device_name : device_names)
   {
-    uint8_t node_id = config_->get_entry<uint8_t>(*it, "node_id").value();
-    std::string change_state_client_name = *it;
-    std::string get_state_client_name = *it;
+    uint8_t node_id = config_->get_entry<uint8_t>(device, "node_id").value();
+    std::string change_state_client_name = device_name;
+    std::string get_state_client_name = device_name;
     get_state_client_name += "/get_state";
     change_state_client_name += "/change_state";
-    RCLCPP_INFO(this->get_logger(), "Found %s (node_id=%hu)", it->c_str(), node_id);
-    device_names_to_ids.emplace(*it, node_id);
+    RCLCPP_INFO(this->get_logger(), "Found %s (node_id=%hu)", device_name.c_str(), node_id);
+    device_names_to_ids.emplace(device, node_id);
     rclcpp::Client<lifecycle_msgs::srv::GetState>::SharedPtr get_state_client =
       this->create_client<lifecycle_msgs::srv::GetState>(
         get_state_client_name, rclcpp::QoS(10), cbg_clients);
@@ -95,7 +95,7 @@ bool LifecycleManager::load_from_config()
     this->drivers_get_state_clients.emplace(node_id, get_state_client);
     this->drivers_change_state_clients.emplace(node_id, change_state_client);
 
-    if (it->find("master") != std::string::npos)
+    if (device_name.find("master") != std::string::npos)
     {
       this->master_id_ = node_id;
     }
@@ -212,9 +212,9 @@ bool LifecycleManager::bring_down_master()
 
 bool LifecycleManager::bring_up_driver(std::string device_name)
 {
-  auto node_id = this->device_names_to_ids[device_name];
+  const auto node_id = this->device_names_to_ids[device_name];
   RCLCPP_DEBUG(this->get_logger(), "Bringing up %s with id %u", device_name.c_str(), node_id);
-  auto master_state = this->get_state(master_id_, 3s);
+  const auto master_state = this->get_state(master_id_, 3s);
   if (master_state != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     RCLCPP_ERROR(