style(pre-commit): autofix

autowarefoundation · Nov 26, 2024 · ce6afb8 · ce6afb8
1 parent 72e4382
commit ce6afb8
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Showing 4 changed files with 126 additions and 122 deletions.
diff --git a/common/autoware_node/include/autoware/node/node.hpp b/common/autoware_node/include/autoware/node/node.hpp
@@ -36,110 +36,110 @@
 
 namespace autoware::node
 {
-    class Node : public rclcpp_lifecycle::LifecycleNode
-    {
-    public:
-        AUTOWARE_NODE_PUBLIC
-        explicit Node(
-            const std::string& node_name, const std::string& ns = "",
-            const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
-
-    protected:
-        //  /// @brief Create a subscription with a monitored deadline and liveliness
-        //  template <
-        //    typename MessageT, typename CallbackT, typename AllocatorT = std::allocator<void>,
-        //    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-        //    typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
-        //  std::shared_ptr<SubscriptionT> create_monitored_subscription(
-        //    const std::string & topic_name, const float hz, const rclcpp::QoS & qos, CallbackT &&
-        //    callback, const rclcpp::SubscriptionOptions & options = rclcpp::SubscriptionOptions(),
-        //    typename MessageMemoryStrategyT::SharedPtr msg_mem_strategy =
-        //      (MessageMemoryStrategyT::create_default()))
-        //  {
-        //    // create proper qos based on input parameter
-        //    // update lease duration and deadline in qos
-        //    RCLCPP_DEBUG(get_logger(), "Create monitored subscription to topic %s", topic_name.c_str());
-        //    std::chrono::milliseconds lease_duration{
-        //      static_cast<int>(1.0 / hz * 1000 * 1.1)};  // add 10 % gap to lease duration (buffer)
-        //    rclcpp::QoS qos_profile = qos;
-        //    qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
-        //      .liveliness_lease_duration(lease_duration)
-        //      .deadline(lease_duration);
-        //
-        //    rclcpp::SubscriptionOptions sub_options = options;
-        //    sub_options.event_callbacks.deadline_callback =
-        //      [=](rclcpp::QOSDeadlineRequestedInfo & event) -> void {
-        //      RCLCPP_ERROR(
-        //        get_logger(), "Requested deadline missed - total %d delta %d", event.total_count,
-        //        event.total_count_change);
-        //      // NodeError service call
-        //      std::string msg = "Deadline for topic " + topic_name + " was missed.";
-        //      autoware_control_center_msgs::msg::NodeState node_state;
-        //      node_state.status = autoware_control_center_msgs::msg::NodeState::ERROR;
-        //      send_state(node_state, msg);
-        //    };
-        //
-        //    sub_options.event_callbacks.liveliness_callback =
-        //      [=](rclcpp::QOSLivelinessChangedInfo & event) -> void {
-        //      RCLCPP_DEBUG(get_logger(), "%s topic liveliness info changed", topic_name.c_str());
-        //      RCLCPP_DEBUG(get_logger(), "  alive_count: %d", event.alive_count);
-        //      RCLCPP_DEBUG(get_logger(), "  not_alive_count: %d", event.not_alive_count);
-        //      RCLCPP_DEBUG(get_logger(), "  alive_count_change: %d", event.alive_count_change);
-        //      RCLCPP_DEBUG(get_logger(), "  not_alive_count_change: %d", event.not_alive_count_change);
-        //      if (event.alive_count == 0) {
-        //        RCLCPP_ERROR(get_logger(), "%s topic publisher is not alive.", topic_name.c_str());
-        //        // NodeError service call
-        //        std::string msg = topic_name + " topic publisher is not alive.";
-        //        autoware_control_center_msgs::msg::NodeState node_state;
-        //        node_state.status = autoware_control_center_msgs::msg::NodeState::ERROR;
-        //        send_state(node_state, msg);
-        //      }
-        //    };
-        //
-        //    return create_subscription<MessageT>(
-        //      topic_name, qos_profile, std::forward<CallbackT>(callback), sub_options,
-        //      msg_mem_strategy);
-        //  }
-
-    private:
-        using Heartbeat = autoware_control_center_msgs::msg::Heartbeat;
-        using NodeStatusActivity = autoware_control_center_msgs::msg::NodeStatusActivity;
-        using NodeStatusOperational = autoware_control_center_msgs::msg::NodeStatusOperational;
-        using ResultDeregistration = autoware_control_center_msgs::msg::ResultDeregistration;
-        using ResultRegistration = autoware_control_center_msgs::msg::ResultRegistration;
-        using Deregister = autoware_control_center_msgs::srv::Deregister;
-        using Register = autoware_control_center_msgs::srv::Register;
-
-        using FutureRegister = rclcpp::Client<autoware_control_center_msgs::srv::Register>::SharedFuture;
-
-        rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
-
-        rclcpp::Client<autoware_control_center_msgs::srv::Register>::SharedPtr cli_register_;
-
-        rclcpp::Publisher<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr pub_heartbeat_;
-
-        uint16_t sequence_number_;
-
-        bool is_registered_;
-        double period_timer_register_ms_;
-        double period_heartbeat_ms_;
-        double deadline_ms_;
-
-        rclcpp::TimerBase::SharedPtr timer_registration_;
-        rclcpp::TimerBase::SharedPtr timer_heartbeat_;
-
-        unique_identifier_msgs::msg::UUID uuid_node_;
-
-        void on_tick_registration();
-        void on_tick_heartbeat();
-        void on_register(FutureRegister future);
-
-        rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-        on_shutdown(const rclcpp_lifecycle::State& state) override;
-
-    protected:
-        void destroy_node();
-    };
-} // namespace autoware::node
+class Node : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  AUTOWARE_NODE_PUBLIC
+  explicit Node(
+    const std::string & node_name, const std::string & ns = "",
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
+protected:
+  //  /// @brief Create a subscription with a monitored deadline and liveliness
+  //  template <
+  //    typename MessageT, typename CallbackT, typename AllocatorT = std::allocator<void>,
+  //    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+  //    typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
+  //  std::shared_ptr<SubscriptionT> create_monitored_subscription(
+  //    const std::string & topic_name, const float hz, const rclcpp::QoS & qos, CallbackT &&
+  //    callback, const rclcpp::SubscriptionOptions & options = rclcpp::SubscriptionOptions(),
+  //    typename MessageMemoryStrategyT::SharedPtr msg_mem_strategy =
+  //      (MessageMemoryStrategyT::create_default()))
+  //  {
+  //    // create proper qos based on input parameter
+  //    // update lease duration and deadline in qos
+  //    RCLCPP_DEBUG(get_logger(), "Create monitored subscription to topic %s", topic_name.c_str());
+  //    std::chrono::milliseconds lease_duration{
+  //      static_cast<int>(1.0 / hz * 1000 * 1.1)};  // add 10 % gap to lease duration (buffer)
+  //    rclcpp::QoS qos_profile = qos;
+  //    qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
+  //      .liveliness_lease_duration(lease_duration)
+  //      .deadline(lease_duration);
+  //
+  //    rclcpp::SubscriptionOptions sub_options = options;
+  //    sub_options.event_callbacks.deadline_callback =
+  //      [=](rclcpp::QOSDeadlineRequestedInfo & event) -> void {
+  //      RCLCPP_ERROR(
+  //        get_logger(), "Requested deadline missed - total %d delta %d", event.total_count,
+  //        event.total_count_change);
+  //      // NodeError service call
+  //      std::string msg = "Deadline for topic " + topic_name + " was missed.";
+  //      autoware_control_center_msgs::msg::NodeState node_state;
+  //      node_state.status = autoware_control_center_msgs::msg::NodeState::ERROR;
+  //      send_state(node_state, msg);
+  //    };
+  //
+  //    sub_options.event_callbacks.liveliness_callback =
+  //      [=](rclcpp::QOSLivelinessChangedInfo & event) -> void {
+  //      RCLCPP_DEBUG(get_logger(), "%s topic liveliness info changed", topic_name.c_str());
+  //      RCLCPP_DEBUG(get_logger(), "  alive_count: %d", event.alive_count);
+  //      RCLCPP_DEBUG(get_logger(), "  not_alive_count: %d", event.not_alive_count);
+  //      RCLCPP_DEBUG(get_logger(), "  alive_count_change: %d", event.alive_count_change);
+  //      RCLCPP_DEBUG(get_logger(), "  not_alive_count_change: %d", event.not_alive_count_change);
+  //      if (event.alive_count == 0) {
+  //        RCLCPP_ERROR(get_logger(), "%s topic publisher is not alive.", topic_name.c_str());
+  //        // NodeError service call
+  //        std::string msg = topic_name + " topic publisher is not alive.";
+  //        autoware_control_center_msgs::msg::NodeState node_state;
+  //        node_state.status = autoware_control_center_msgs::msg::NodeState::ERROR;
+  //        send_state(node_state, msg);
+  //      }
+  //    };
+  //
+  //    return create_subscription<MessageT>(
+  //      topic_name, qos_profile, std::forward<CallbackT>(callback), sub_options,
+  //      msg_mem_strategy);
+  //  }
+
+private:
+  using Heartbeat = autoware_control_center_msgs::msg::Heartbeat;
+  using NodeStatusActivity = autoware_control_center_msgs::msg::NodeStatusActivity;
+  using NodeStatusOperational = autoware_control_center_msgs::msg::NodeStatusOperational;
+  using ResultDeregistration = autoware_control_center_msgs::msg::ResultDeregistration;
+  using ResultRegistration = autoware_control_center_msgs::msg::ResultRegistration;
+  using Deregister = autoware_control_center_msgs::srv::Deregister;
+  using Register = autoware_control_center_msgs::srv::Register;
+
+  using FutureRegister = rclcpp::Client<autoware_control_center_msgs::srv::Register>::SharedFuture;
+
+  rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
+
+  rclcpp::Client<autoware_control_center_msgs::srv::Register>::SharedPtr cli_register_;
+
+  rclcpp::Publisher<autoware_control_center_msgs::msg::Heartbeat>::SharedPtr pub_heartbeat_;
+
+  uint16_t sequence_number_;
+
+  bool is_registered_;
+  double period_timer_register_ms_;
+  double period_heartbeat_ms_;
+  double deadline_ms_;
+
+  rclcpp::TimerBase::SharedPtr timer_registration_;
+  rclcpp::TimerBase::SharedPtr timer_heartbeat_;
+
+  unique_identifier_msgs::msg::UUID uuid_node_;
+
+  void on_tick_registration();
+  void on_tick_heartbeat();
+  void on_register(FutureRegister future);
+
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
+    const rclcpp_lifecycle::State & state) override;
+
+protected:
+  void destroy_node();
+};
+}  // namespace autoware::node
 
 #endif  // AUTOWARE__NODE__NODE_HPP_
diff --git a/common/autoware_node/src/node.cpp b/common/autoware_node/src/node.cpp
@@ -26,20 +26,20 @@ namespace autoware::node
 {
 Node::Node(
   const std::string & node_name, const std::string & ns, const rclcpp::NodeOptions & options)
-  : LifecycleNode(node_name, ns, options),
-    sequence_number_{0},
-    is_registered_{false},
-    period_timer_register_ms_{declare_parameter<double>("period_timer_register_ms")},
-    period_heartbeat_ms_{declare_parameter<double>("period_heartbeat_ms")},
-    deadline_ms_{declare_parameter<double>("deadline_ms")}
+: LifecycleNode(node_name, ns, options),
+  sequence_number_{0},
+  is_registered_{false},
+  period_timer_register_ms_{declare_parameter<double>("period_timer_register_ms")},
+  period_heartbeat_ms_{declare_parameter<double>("period_heartbeat_ms")},
+  deadline_ms_{declare_parameter<double>("deadline_ms")}
 {
   RCLCPP_DEBUG(
     get_logger(), "Node %s constructor", get_node_base_interface()->get_fully_qualified_name());
 
   rclcpp::QoS qos_profile(1);
   qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
-             .liveliness_lease_duration(std::chrono::duration<double, std::milli>(deadline_ms_))
-             .deadline(std::chrono::duration<double, std::milli>(deadline_ms_));
+    .liveliness_lease_duration(std::chrono::duration<double, std::milli>(deadline_ms_))
+    .deadline(std::chrono::duration<double, std::milli>(deadline_ms_));
 
   pub_heartbeat_ = this->create_publisher<autoware_control_center_msgs::msg::Heartbeat>(
     "~/heartbeat", qos_profile);
@@ -123,4 +123,4 @@ void Node::destroy_node()
   cli_register_.reset();
   pub_heartbeat_.reset();
 }
-} // namespace autoware::node
+}  // namespace autoware::node
diff --git a/common/autoware_test_node/README.md b/common/autoware_test_node/README.md
@@ -19,6 +19,7 @@ You should see the reports coming from the nodes.
 ### Lifecycle control
 
 Output a list of nodes with lifecycle:
+
 ```console
 $ ros2 lifecycle nodes
 /autoware/control_center
@@ -29,26 +30,29 @@ $ ros2 lifecycle nodes
 ```
 
 Get the current state of a node:
+
 ```console
 $ ros2 lifecycle get /test_node4
 unconfigured [1]
 ```
 
 List the available transitions for the node:
+
 ```console
 $ ros2 lifecycle list /test_node4
 - configure [1]
-	Start: unconfigured
-	Goal: configuring
+ Start: unconfigured
+ Goal: configuring
 - shutdown [5]
-	Start: unconfigured
-	Goal: shuttingdown
+ Start: unconfigured
+ Goal: shuttingdown
 ```
 
 Shutdown the node:
+
 ```console
 $ ros2 lifecycle set /test_node4 shutdown
 Transitioning successful
 ```
 
-Check the `/autoware/control_center/node_reports` topic to see the node's `is_alive` field change to `false`.
+Check the `/autoware/control_center/node_reports` topic to see the node's `is_alive` field change to `false`.
diff --git a/common/autoware_test_node/src/test_node.cpp b/common/autoware_test_node/src/test_node.cpp
@@ -19,13 +19,13 @@
 namespace autoware::test_node
 {
 TestNode::TestNode(const rclcpp::NodeOptions & options)
-  : autoware::node::Node("test_node", "", options)
+: autoware::node::Node("test_node", "", options)
 {
   RCLCPP_INFO(
     get_logger(), "TestNode constructor with name %s",
     this->get_node_base_interface()->get_fully_qualified_name());
 }
-} // namespace autoware::test_node
+}  // namespace autoware::test_node
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware::test_node::TestNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::test_node::TestNode)