diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21f2e96..de507fb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,9 +46,6 @@ if(BUILD_TESTING)
   ament_add_gmock(realtime_box_tests test/realtime_box_tests.cpp)
   target_link_libraries(realtime_box_tests realtime_tools)
 
-  ament_add_gmock(realtime_box_best_effort_tests test/realtime_box_best_effort_tests.cpp)
-  target_link_libraries(realtime_box_best_effort_tests realtime_tools)
-
   ament_add_gmock(realtime_buffer_tests test/realtime_buffer_tests.cpp)
   target_link_libraries(realtime_buffer_tests realtime_tools)
 
diff --git a/include/realtime_tools/realtime_box.h b/include/realtime_tools/realtime_box.h
index c5fc300..79308df 100644
--- a/include/realtime_tools/realtime_box.h
+++ b/include/realtime_tools/realtime_box.h
@@ -1,4 +1,4 @@
-// Copyright (c) 2009, Willow Garage, Inc.
+// Copyright (c) 2024, Lennart Nachtigall
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
@@ -26,50 +26,402 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-// Author: Stuart Glaser
+// Author: Lennart Nachtigall
 
-#ifndef REALTIME_TOOLS__REALTIME_BOX_H__
-#define REALTIME_TOOLS__REALTIME_BOX_H__
+#ifndef REALTIME_TOOLS__REALTIME_BOX_H_
+#define REALTIME_TOOLS__REALTIME_BOX_H_
 
+#include <initializer_list>
 #include <mutex>
-#include <string>
+#include <optional>
+#include <utility>
+
+#include <rcpputils/pointer_traits.hpp>
 
 namespace realtime_tools
 {
+
+template <typename T>
+constexpr auto is_ptr_or_smart_ptr = rcpputils::is_pointer<T>::value;
+
 /*!
+    A Box that ensures thread safe access to the boxed contents.
+    Access is best effort. If it can not lock it will return.
+
+    NOTE about pointers:
+    You can use pointers with this box but the access will be different.
+    Only use the get/set methods that take function pointer for accessing the internal value.
+*/
+
+// Provide a base template for the class
+template <class T, typename mutex_type = std::mutex, bool = is_ptr_or_smart_ptr<T>>
+class RealtimeBox;
+
+// Provide a specialisation for non pointer types
+// NOTE: When migrating to a safe access only version just remove the specialisation for pointer
+// and let this be the only version!
+template <class T, typename mutex_type>
+class RealtimeBox<T, mutex_type, false>
+{
+  static_assert(!is_ptr_or_smart_ptr<T>);
+  static_assert(
+    std::is_same_v<mutex_type, std::mutex> || std::is_same_v<mutex_type, std::recursive_mutex>);
+  static_assert(std::is_copy_constructible_v<T>, "Passed type must be copy constructible");
+
+public:
+  using mutex_t = mutex_type;
+  using type = T;
+  // Provide various constructors
+  constexpr explicit RealtimeBox(const T & init = T{}) : value_(init) {}
+  constexpr explicit RealtimeBox(const T && init) : value_(std::move(init)) {}
+
+  // Only enabled for types that can be constructed from an initializer list
+  template <typename U = T>
+  constexpr RealtimeBox(
+    const std::initializer_list<U> & init,
+    std::enable_if_t<std::is_constructible_v<U, std::initializer_list>>)
+  : value_(init)
+  {
+  }
+
+  /**
+   * @brief set a new content with best effort
+   * @return false if mutex could not be locked
+   * @note disabled for pointer types
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, bool> trySet(const T & value)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+    value_ = value;
+    return true;
+  }
+  /**
+   * @brief access the content readable with best effort
+   * @return false if the mutex could not be locked
+   * @note only safe way to access pointer type content (rw)
+   */
+  bool trySet(const std::function<void(T &)> & func)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+
+    func(value_);
+    return true;
+  }
+  /**
+   * @brief get the content with best effort
+   * @return std::nullopt if content could not be access, otherwise the content is returned
+   */
+  template <typename U = T>
+  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, std::optional<U>> tryGet() const
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return std::nullopt;
+    }
+    return value_;
+  }
+  /**
+   * @brief access the content (r) with best effort
+   * @return false if the mutex could not be locked
+   * @note only safe way to access pointer type content (r)
+   */
+  bool tryGet(const std::function<void(const T &)> & func)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+
+    func(value_);
+    return true;
+  }
+
+  /**
+   * @brief set the content and wait until the mutex could be locked (RealtimeBox behavior)
+   * @return true
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> set(const T & value)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    // cppcheck-suppress missingReturn
+    value_ = value;
+  }
+  /**
+   * @brief access the content (rw) and wait until the mutex could locked
+   */
+  void set(const std::function<void(T &)> & func)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    func(value_);
+  }
+
+  /**
+   * @brief get the content and wait until the mutex could be locked (RealtimeBox behaviour)
+   * @return copy of the value
+   */
+  template <typename U = T>
+  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, U> get() const
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    return value_;
+  }
+  /**
+   * @brief get the content and wait until the mutex could be locked
+   * @note same signature as in the existing RealtimeBox<T>
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> get(T & in) const
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    // cppcheck-suppress missingReturn
+    in = value_;
+  }
+  /**
+   * @brief access the content (r) and wait until the mutex could be locked
+   * @note only safe way to access pointer type content (r)
+   * @note same signature as in the existing RealtimeBox<T>
+   */
+  void get(const std::function<void(const T &)> & func)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    func(value_);
+  }
+
+  /**
+   * @brief provide a custom assignment operator for easier usage
+   * @note only to be used from non-RT!
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> operator=(const T & value)
+  {
+    set(value);
+  }
 
-  Strongly suggested that you use an std::shared_ptr in this box to
-  guarantee realtime safety.
+  /**
+   * @brief provide a custom conversion operator
+   * @note Can only be used from non-RT!
+   */
+  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
+  [[nodiscard]] operator T() const
+  {
+    // Only makes sense with the getNonRT method otherwise we would return an std::optional
+    return get();
+  }
+  /**
+   * @brief provide a custom conversion operator
+   * @note Can be used from non-RT and RT contexts
+   */
+  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
+  [[nodiscard]] operator std::optional<T>() const
+  {
+    return tryGet();
+  }
+
+  // In case one wants to actually use a pointer
+  // in this implementation we allow accessing the lock directly.
+  // Note: Be careful with lock.unlock().
+  // It may only be called from the thread that locked the mutex!
+  [[nodiscard]] const mutex_t & getMutex() const { return lock_; }
+  [[nodiscard]] mutex_t & getMutex() { return lock_; }
 
- */
-template <class T>
-class RealtimeBox
+private:
+  T value_;
+  mutable mutex_t lock_;
+};
+
+/**
+ * @brief Specialisation for pointer types.
+ * WHY is this specialised. We do not want to break compatibility but show a deprecation note
+ * for get/set etc. methods if used with a pointer type
+ * They are unsafe to use and should therefore be replace with their correspondents that take an std::function for accessing
+ * the value behind the pointer
+*/
+template <class T, typename mutex_type>
+class RealtimeBox<T, mutex_type, true>
 {
+  static_assert(is_ptr_or_smart_ptr<T>);
+  static_assert(
+    std::is_same_v<mutex_type, std::mutex> || std::is_same_v<mutex_type, std::recursive_mutex>);
+  static_assert(std::is_copy_constructible_v<T>, "Passed type must be copy constructible");
+
 public:
-  explicit RealtimeBox(const T & initial = T()) : thing_(initial) {}
+  using mutex_t = mutex_type;
+  using type = T;
+  // Provide various constructors
+  constexpr explicit RealtimeBox(const T & init = T{}) : value_(init) {}
+  constexpr explicit RealtimeBox(const T && init) : value_(std::move(init)) {}
+
+  // Only enabled for types that can be constructed from an initializer list
+  template <typename U = T>
+  constexpr RealtimeBox(
+    const std::initializer_list<U> & init,
+    std::enable_if_t<std::is_constructible_v<U, std::initializer_list>>)
+  : value_(init)
+  {
+  }
+
+  /**
+   * @brief set a new content with best effort
+   * @return false if mutex could not be locked
+   * @note disabled for pointer types
+   */
+  [[deprecated("trySet is not safe for pointer types - use trySet(std::function...) instead")]]
+  bool trySet(const T & value)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+    value_ = value;
+    return true;
+  }
+  /**
+   * @brief access the content readable with best effort
+   * @return false if the mutex could not be locked
+   * @note only safe way to access pointer type content (rw)
+   */
+  bool trySet(const std::function<void(T &)> & func)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
+
+    func(value_);
+    return true;
+  }
+  /**
+   * @brief get the content with best effort
+   * @return std::nullopt if content could not be access, otherwise the content is returned
+   */
+  [[deprecated(
+    "tryGet is not safe for pointer types - use tryGet(std::function...) "
+    "instead")]] [[nodiscard]] std::optional<T>
+  tryGet() const
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return std::nullopt;
+    }
+    return value_;
+  }
+  /**
+   * @brief access the content (r) with best effort
+   * @return false if the mutex could not be locked
+   * @note only safe way to access pointer type content (r)
+   */
+  bool tryGet(const std::function<void(const T &)> & func)
+  {
+    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
+    if (!guard.try_lock()) {
+      return false;
+    }
 
+    func(value_);
+    return true;
+  }
+
+  /**
+   * @brief set the content and wait until the mutex could be locked (RealtimeBox behavior)
+   * @return true
+   */
+  [[deprecated("set is not safe for pointer types - use set(std::function...) instead")]]
   void set(const T & value)
   {
-    std::lock_guard<std::mutex> guard(thing_lock_RT_);
-    thing_ = value;
+    std::lock_guard<mutex_t> guard(lock_);
+    // cppcheck-suppress missingReturn
+    value_ = value;
+  }
+  /**
+   * @brief access the content (rw) and wait until the mutex could locked
+   */
+  void set(const std::function<void(T &)> & func)
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    func(value_);
   }
 
-  void get(T & ref)
+  /**
+   * @brief get the content and wait until the mutex could be locked (RealtimeBox behaviour)
+   * @return copy of the value
+   */
+  [[deprecated(
+    "get is not safe for pointer types - use get(std::function...) instead")]] [[nodiscard]] T
+  get() const
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    return value_;
+  }
+  /**
+   * @brief get the content and wait until the mutex could be locked
+   * @note same signature as in the existing RealtimeBox<T>
+   */
+  [[deprecated("get is not safe for pointer types - use get(std::function...) instead")]]
+  void get(T & in) const
+  {
+    std::lock_guard<mutex_t> guard(lock_);
+    // cppcheck-suppress missingReturn
+    in = value_;
+  }
+  /**
+   * @brief access the content (r) and wait until the mutex could be locked
+   * @note only safe way to access pointer type content (r)
+   * @note same signature as in the existing RealtimeBox<T>
+   */
+  void get(const std::function<void(const T &)> & func)
   {
-    std::lock_guard<std::mutex> guard(thing_lock_RT_);
-    ref = thing_;
+    std::lock_guard<mutex_t> guard(lock_);
+    func(value_);
   }
 
+  /**
+   * @brief provide a custom assignment operator for easier usage
+   * @note only to be used from non-RT!
+   */
+  template <typename U = T>
+  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> operator=(const T & value)
+  {
+    set(value);
+  }
+
+  /**
+   * @brief provide a custom conversion operator
+   * @note Can only be used from non-RT!
+   */
+  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
+  [[nodiscard]] operator T() const
+  {
+    // Only makes sense with the getNonRT method otherwise we would return an std::optional
+    return get();
+  }
+  /**
+   * @brief provide a custom conversion operator
+   * @note Can be used from non-RT and RT contexts
+   */
+  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
+  [[nodiscard]] operator std::optional<T>() const
+  {
+    return tryGet();
+  }
+
+  // In case one wants to actually use a pointer
+  // in this implementation we allow accessing the lock directly.
+  // Note: Be careful with lock.unlock().
+  // It may only be called from the thread that locked the mutex!
+  [[nodiscard]] const mutex_t & getMutex() const { return lock_; }
+  [[nodiscard]] mutex_t & getMutex() { return lock_; }
+
 private:
-  // The thing that's in the box.
-  T thing_;
-
-  // Protects access to the thing in the box.  This mutex is
-  // guaranteed to be locked for no longer than the duration of the
-  // copy, so as long as the copy is realtime safe and the OS has
-  // priority inheritance for mutexes, this lock can be safely locked
-  // from within realtime.
-  std::mutex thing_lock_RT_;
+  T value_;
+  mutable mutex_t lock_;
 };
 
 }  // namespace realtime_tools
diff --git a/include/realtime_tools/realtime_box_best_effort.h b/include/realtime_tools/realtime_box_best_effort.h
deleted file mode 100644
index 4763c5a..0000000
--- a/include/realtime_tools/realtime_box_best_effort.h
+++ /dev/null
@@ -1,232 +0,0 @@
-// Copyright (c) 2024, Lennart Nachtigall
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the Willow Garage, Inc. nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-// Author: Lennart Nachtigall
-
-#ifndef REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_H_
-#define REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_H_
-
-#include <initializer_list>
-#include <mutex>
-#include <optional>
-#include <utility>
-
-#include <rcpputils/pointer_traits.hpp>
-
-namespace realtime_tools
-{
-
-template <typename T>
-constexpr auto is_ptr_or_smart_ptr = rcpputils::is_pointer<T>::value;
-
-/*!
-    A Box that ensures thread safe access to the boxed contents.
-    Access is best effort. If it can not lock it will return.
-
-    NOTE about pointers:
-    You can use pointers with this box but the access will be different.
-    Only use the get/set methods that take function pointer for accessing the internal value.
-*/
-template <class T, typename mutex_type = std::mutex>
-class RealtimeBoxBestEffort
-{
-  static_assert(
-    std::is_same_v<mutex_type, std::mutex> || std::is_same_v<mutex_type, std::recursive_mutex>);
-  static_assert(std::is_copy_constructible_v<T>, "Passed type must be copy constructible");
-
-public:
-  using mutex_t = mutex_type;
-  using type = T;
-  // Provide various constructors
-  constexpr explicit RealtimeBoxBestEffort(const T & init = T{}) : value_(init) {}
-  constexpr explicit RealtimeBoxBestEffort(const T && init) : value_(std::move(init)) {}
-
-  // Only enabled for types that can be constructed from an initializer list
-  template <typename U = T>
-  constexpr RealtimeBoxBestEffort(
-    const std::initializer_list<U> & init,
-    std::enable_if_t<std::is_constructible_v<U, std::initializer_list>>)
-  : value_(init)
-  {
-  }
-
-  /**
-   * @brief set a new content with best effort
-   * @return false if mutex could not be locked
-   * @note disabled for pointer types
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, bool> trySet(const T & value)
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return false;
-    }
-    value_ = value;
-    return true;
-  }
-  /**
-   * @brief access the content readable with best effort
-   * @return false if the mutex could not be locked
-   * @note only safe way to access pointer type content (rw)
-   */
-  bool trySet(const std::function<void(T &)> & func)
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return false;
-    }
-
-    func(value_);
-    return true;
-  }
-  /**
-   * @brief get the content with best effort
-   * @return std::nullopt if content could not be access, otherwise the content is returned
-   */
-  template <typename U = T>
-  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, std::optional<U>> tryGet() const
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return std::nullopt;
-    }
-    return value_;
-  }
-  /**
-   * @brief access the content (r) with best effort
-   * @return false if the mutex could not be locked
-   * @note only safe way to access pointer type content (r)
-   */
-  bool tryGet(const std::function<void(const T &)> & func)
-  {
-    std::unique_lock<mutex_t> guard(lock_, std::defer_lock);
-    if (!guard.try_lock()) {
-      return false;
-    }
-
-    func(value_);
-    return true;
-  }
-
-  /**
-   * @brief set the content and wait until the mutex could be locked (RealtimeBox behavior)
-   * @return true
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> set(const T & value)
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    // cppcheck-suppress missingReturn
-    value_ = value;
-  }
-  /**
-   * @brief access the content (rw) and wait until the mutex could locked
-   */
-  void set(const std::function<void(T &)> & func)
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    func(value_);
-  }
-
-  /**
-   * @brief get the content and wait until the mutex could be locked (RealtimeBox behaviour)
-   * @return copy of the value
-   */
-  template <typename U = T>
-  [[nodiscard]] typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, U> get() const
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    return value_;
-  }
-  /**
-   * @brief get the content and wait until the mutex could be locked
-   * @note same signature as in the existing RealtimeBox<T>
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> get(T & in) const
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    // cppcheck-suppress missingReturn
-    in = value_;
-  }
-  /**
-   * @brief access the content (r) and wait until the mutex could be locked
-   * @note only safe way to access pointer type content (r)
-   * @note same signature as in the existing RealtimeBox<T>
-   */
-  void get(const std::function<void(const T &)> & func)
-  {
-    std::lock_guard<mutex_t> guard(lock_);
-    func(value_);
-  }
-
-  /**
-   * @brief provide a custom assignment operator for easier usage
-   * @note only to be used from non-RT!
-   */
-  template <typename U = T>
-  typename std::enable_if_t<!is_ptr_or_smart_ptr<U>, void> operator=(const T & value)
-  {
-    set(value);
-  }
-
-  /**
-   * @brief provide a custom conversion operator
-   * @note Can only be used from non-RT!
-   */
-  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
-  [[nodiscard]] operator T() const
-  {
-    // Only makes sense with the getNonRT method otherwise we would return an std::optional
-    return get();
-  }
-  /**
-   * @brief provide a custom conversion operator
-   * @note Can be used from non-RT and RT contexts
-   */
-  template <typename U = T, typename = typename std::enable_if_t<!is_ptr_or_smart_ptr<U>>>
-  [[nodiscard]] operator std::optional<T>() const
-  {
-    return tryGet();
-  }
-
-  // In case one wants to actually use a pointer
-  // in this implementation we allow accessing the lock directly.
-  // Note: Be careful with lock.unlock().
-  // It may only be called from the thread that locked the mutex!
-  [[nodiscard]] const mutex_t & getMutex() const { return lock_; }
-  [[nodiscard]] mutex_t & getMutex() { return lock_; }
-
-private:
-  T value_;
-  mutable mutex_t lock_;
-};
-}  // namespace realtime_tools
-
-#endif  // REALTIME_TOOLS__REALTIME_BOX_BEST_EFFORT_H_
diff --git a/test/realtime_box_best_effort_tests.cpp b/test/realtime_box_best_effort_tests.cpp
deleted file mode 100644
index 1cda818..0000000
--- a/test/realtime_box_best_effort_tests.cpp
+++ /dev/null
@@ -1,179 +0,0 @@
-// Copyright (c) 2024, Lennart Nachtigall
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the Willow Garage, Inc. nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-// Author: Lennart Nachtigall
-
-#include <gmock/gmock.h>
-#include <realtime_tools/realtime_box_best_effort.h>
-
-struct DefaultConstructable
-{
-  int a = 10;
-  std::string str = "hallo";
-};
-
-struct NonDefaultConstructable
-{
-  NonDefaultConstructable(int a_, const std::string & str_) : a(a_), str(str_) {}
-  int a;
-  std::string str;
-};
-
-struct FromInitializerList
-{
-  FromInitializerList(std::initializer_list<int> list)
-  {
-    std::copy(list.begin(), list.end(), data.begin());
-  }
-  std::array<int, 3> data;
-};
-
-using realtime_tools::RealtimeBoxBestEffort;
-
-TEST(RealtimeBoxBestEffort, empty_construct)
-{
-  RealtimeBoxBestEffort<DefaultConstructable> box;
-
-  auto value = box.get();
-  EXPECT_EQ(value.a, 10);
-  EXPECT_EQ(value.str, "hallo");
-}
-
-TEST(RealtimeBoxBestEffort, default_construct)
-{
-  DefaultConstructable data;
-  data.a = 100;
-
-  RealtimeBoxBestEffort<DefaultConstructable> box(data);
-
-  auto value = box.get();
-  EXPECT_EQ(value.a, 100);
-  EXPECT_EQ(value.str, "hallo");
-}
-
-TEST(RealtimeBoxBestEffort, non_default_constructable)
-{
-  RealtimeBoxBestEffort<NonDefaultConstructable> box(NonDefaultConstructable(-10, "hello"));
-
-  auto value = box.get();
-  EXPECT_EQ(value.a, -10);
-  EXPECT_EQ(value.str, "hello");
-}
-TEST(RealtimeBoxBestEffort, standard_get)
-{
-  RealtimeBoxBestEffort<DefaultConstructable> box(DefaultConstructable{.a = 1000});
-
-  DefaultConstructable data;
-  box.get(data);
-  EXPECT_EQ(data.a, 1000);
-  data.a = 10000;
-
-  box.set(data);
-
-  auto value = box.get();
-  EXPECT_EQ(value.a, 10000);
-}
-
-TEST(RealtimeBoxBestEffort, initializer_list)
-{
-  RealtimeBoxBestEffort<FromInitializerList> box({1, 2, 3});
-
-  auto value = box.get();
-  EXPECT_EQ(value.data[0], 1);
-  EXPECT_EQ(value.data[1], 2);
-  EXPECT_EQ(value.data[2], 3);
-}
-
-TEST(RealtimeBoxBestEffort, assignment_operator)
-{
-  DefaultConstructable data;
-  data.a = 1000;
-  RealtimeBoxBestEffort<DefaultConstructable> box;
-  // Assignment operator is always non RT!
-  box = data;
-
-  auto value = box.get();
-  EXPECT_EQ(value.a, 1000);
-}
-TEST(RealtimeBoxBestEffort, typecast_operator)
-{
-  RealtimeBoxBestEffort box(DefaultConstructable{.a = 100, .str = ""});
-
-  // Use non RT access
-  DefaultConstructable data = box;
-
-  EXPECT_EQ(data.a, 100);
-
-  // Use RT access -> returns std::nullopt if the mutex could not be locked
-  std::optional<DefaultConstructable> rt_data_access = box;
-
-  if (rt_data_access) {
-    EXPECT_EQ(rt_data_access->a, 100);
-  }
-}
-
-TEST(RealtimeBoxBestEffort, pointer_type)
-{
-  int a = 100;
-  int * ptr = &a;
-
-  RealtimeBoxBestEffort box(ptr);
-  // This does not and should not compile!
-  // auto value = box.get();
-
-  // Instead access it via a passed function.
-  // This assures that we access the data within the scope of the lock
-  box.get([](const auto & i) { EXPECT_EQ(*i, 100); });
-
-  box.set([](auto & i) { *i = 200; });
-
-  box.get([](const auto & i) { EXPECT_EQ(*i, 200); });
-
-  box.tryGet([](const auto & i) { EXPECT_EQ(*i, 200); });
-}
-
-TEST(RealtimeBoxBestEffort, smart_ptr_type)
-{
-  std::shared_ptr<int> ptr = std::make_shared<int>(100);
-
-  RealtimeBoxBestEffort box(ptr);
-  // This does not and should not compile!
-  // auto value = box.get();
-
-  // Instead access it via a passed function.
-  // This assures that we access the data within the scope of the lock
-  box.get([](const auto & i) { EXPECT_EQ(*i, 100); });
-
-  box.set([](auto & i) { *i = 200; });
-
-  box.get([](const auto & i) { EXPECT_EQ(*i, 200); });
-
-  box.trySet([](const auto & p) { *p = 10; });
-
-  box.tryGet([](const auto & p) { EXPECT_EQ(*p, 10); });
-}
diff --git a/test/realtime_box_tests.cpp b/test/realtime_box_tests.cpp
index 1c443f6..21d4178 100644
--- a/test/realtime_box_tests.cpp
+++ b/test/realtime_box_tests.cpp
@@ -1,3 +1,4 @@
+// Copyright (c) 2024, Lennart Nachtigall
 // Copyright (c) 2019, Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
@@ -10,7 +11,7 @@
 //      notice, this list of conditions and the following disclaimer in the
 //      documentation and/or other materials provided with the distribution.
 //
-//    * Neither the name of the Open Source Robotics Foundation, Inc. nor the names of its
+//    * Neither the name of the Willow Garage, Inc. nor the names of its
 //      contributors may be used to endorse or promote products derived from
 //      this software without specific prior written permission.
 //
@@ -29,28 +30,194 @@
 #include <gmock/gmock.h>
 #include <realtime_tools/realtime_box.h>
 
+struct DefaultConstructable
+{
+  int a = 10;
+  std::string str = "hallo";
+};
+
+struct NonDefaultConstructable
+{
+  NonDefaultConstructable(int a_, const std::string & str_) : a(a_), str(str_) {}
+  int a;
+  std::string str;
+};
+
+struct FromInitializerList
+{
+  FromInitializerList(std::initializer_list<int> list)
+  {
+    std::copy(list.begin(), list.end(), data.begin());
+  }
+  std::array<int, 3> data;
+};
+
 using realtime_tools::RealtimeBox;
 
-class DefaultConstructable
+TEST(RealtimeBox, empty_construct)
+{
+  RealtimeBox<DefaultConstructable> box;
+
+  auto value = box.get();
+  EXPECT_EQ(value.a, 10);
+  EXPECT_EQ(value.str, "hallo");
+}
+
+TEST(RealtimeBox, default_construct)
+{
+  DefaultConstructable data;
+  data.a = 100;
+
+  RealtimeBox<DefaultConstructable> box(data);
+
+  auto value = box.get();
+  EXPECT_EQ(value.a, 100);
+  EXPECT_EQ(value.str, "hallo");
+}
+
+TEST(RealtimeBox, non_default_constructable)
+{
+  RealtimeBox<NonDefaultConstructable> box(NonDefaultConstructable(-10, "hello"));
+
+  auto value = box.get();
+  EXPECT_EQ(value.a, -10);
+  EXPECT_EQ(value.str, "hello");
+}
+TEST(RealtimeBox, standard_get)
+{
+  RealtimeBox<DefaultConstructable> box(DefaultConstructable{.a = 1000});
+
+  DefaultConstructable data;
+  box.get(data);
+  EXPECT_EQ(data.a, 1000);
+  data.a = 10000;
+
+  box.set(data);
+
+  auto value = box.get();
+  EXPECT_EQ(value.a, 10000);
+}
+
+TEST(RealtimeBox, initializer_list)
+{
+  RealtimeBox<FromInitializerList> box({1, 2, 3});
+
+  auto value = box.get();
+  EXPECT_EQ(value.data[0], 1);
+  EXPECT_EQ(value.data[1], 2);
+  EXPECT_EQ(value.data[2], 3);
+}
+
+TEST(RealtimeBox, assignment_operator)
+{
+  DefaultConstructable data;
+  data.a = 1000;
+  RealtimeBox<DefaultConstructable> box;
+  // Assignment operator is always non RT!
+  box = data;
+
+  auto value = box.get();
+  EXPECT_EQ(value.a, 1000);
+}
+TEST(RealtimeBox, typecast_operator)
+{
+  RealtimeBox<DefaultConstructable> box(DefaultConstructable{.a = 100, .str = ""});
+
+  // Use non RT access
+  DefaultConstructable data = box;
+
+  EXPECT_EQ(data.a, 100);
+
+  // Use RT access -> returns std::nullopt if the mutex could not be locked
+  std::optional<DefaultConstructable> rt_data_access = box;
+
+  if (rt_data_access) {
+    EXPECT_EQ(rt_data_access->a, 100);
+  }
+}
+
+TEST(RealtimeBox, pointer_type)
+{
+  int a = 100;
+  int * ptr = &a;
+
+  RealtimeBox<int *> box(ptr);
+  // This does not and should not compile!
+  // auto value = box.get();
+
+  // Instead access it via a passed function.
+  // This assures that we access the data within the scope of the lock
+  box.get([](const auto & i) { EXPECT_EQ(*i, 100); });
+
+  box.set([](auto & i) { *i = 200; });
+
+  box.get([](const auto & i) { EXPECT_EQ(*i, 200); });
+
+  box.tryGet([](const auto & i) { EXPECT_EQ(*i, 200); });
+}
+
+TEST(RealtimeBox, smart_ptr_type)
+{
+  std::shared_ptr<int> ptr = std::make_shared<int>(100);
+
+  RealtimeBox<std::shared_ptr<int>> box(ptr);
+
+  // Instead access it via a passed function.
+  // This assures that we access the data within the scope of the lock
+  box.get([](const auto & i) { EXPECT_EQ(*i, 100); });
+
+  box.set([](auto & i) { *i = 200; });
+
+  box.get([](const auto & i) { EXPECT_EQ(*i, 200); });
+
+  box.trySet([](const auto & p) { *p = 10; });
+
+  box.tryGet([](const auto & p) { EXPECT_EQ(*p, 10); });
+}
+
+TEST(RealtimeBox, deprecated_note)
+{
+  int a = 100;
+  int * ptr = &a;
+
+  RealtimeBox<int *> box(ptr);
+
+  int * res;
+  box.get(res);
+  EXPECT_EQ(*res, 100);
+
+  EXPECT_EQ(*box.get(), 100);
+
+  std::shared_ptr<int> sptr = std::make_shared<int>(10);
+
+  RealtimeBox<std::shared_ptr<int>> sbox(sptr);
+
+  EXPECT_EQ(*sbox.get(), 10);
+}
+
+// These are the tests from the old RealtimeBox implementation
+// They are therefore suffixed with _existing
+
+class DefaultConstructable_existing
 {
 public:
-  DefaultConstructable() : number_(42) {}
-  ~DefaultConstructable() {}
+  DefaultConstructable_existing() : number_(42) {}
+  ~DefaultConstructable_existing() {}
   int number_;
 };
 
-TEST(RealtimeBox, default_construct)
+TEST(RealtimeBox, default_construct_existing)
 {
-  DefaultConstructable thing;
+  DefaultConstructable_existing thing;
   thing.number_ = 5;
 
-  RealtimeBox<DefaultConstructable> box;
+  RealtimeBox<DefaultConstructable_existing> box;
   box.get(thing);
 
   EXPECT_EQ(42, thing.number_);
 }
 
-TEST(RealtimeBox, initial_value)
+TEST(RealtimeBox, initial_value_existing)
 {
   RealtimeBox<double> box(3.14);
   double num = 0.0;
@@ -58,7 +225,7 @@ TEST(RealtimeBox, initial_value)
   EXPECT_DOUBLE_EQ(3.14, num);
 }
 
-TEST(RealtimeBox, set_and_get)
+TEST(RealtimeBox, set_and_get_existing)
 {
   RealtimeBox<char> box('a');