fix formatting

added NOLINT whenever both cpplint and uncrustify cannot be satisfied
ament/ament_lint#158

Signed-off-by: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de>

include/ros1_bridge/action_factory.hpp

@@ -78,7 +78,8 @@ class ActionFactory_1_2 : public ActionFactoryInterface
  client_ = rclcpp_action::create_client<ROS2_T>(ros2_node, action_name);
  }
 
- virtual void shutdown() {
+ virtual void shutdown()
+ {
  std::lock_guard<std::mutex> lock(mutex_);
  for (auto goal : goals_) {
  std::thread([handler = goal.second]() mutable {handler->cancel();}).detach();
@@ -147,7 +148,8 @@ class ActionFactory_1_2 : public ActionFactoryInterface
  std::shared_future<ROS2ClientGoalHandle> gh2_future;
  // Changes as per Dashing
  auto send_goal_ops = ROS2SendGoalOptions();
- send_goal_ops.goal_response_callback = [this, &gh2_future](std::shared_future<ROS2GoalHandle> gh2) mutable {
+ send_goal_ops.goal_response_callback =
+ [this, &gh2_future](std::shared_future<ROS2GoalHandle> gh2) mutable {
  auto goal_handle = gh2_future.get();
  if (!goal_handle) {
  gh1_.setRejected(); // goal was not accepted by remote server
@@ -253,7 +255,8 @@ class ActionFactory_2_1 : public ActionFactoryInterface
  std::bind(&ActionFactory_2_1::handle_accepted, this, std::placeholders::_1));
  }
 
- virtual void shutdown() {
+ virtual void shutdown()
+ {
  std::lock_guard<std::mutex> lock(mutex_);
  for (auto goal : goals_) {
  std::thread([handler = goal.second]() mutable {handler->cancel();}).detach();

ros1_bridge/__init__.py

@@ -26,8 +26,8 @@
  from io import StringIO # Python 3.x
 
 import genmsg
-import genmsg.msg_loader
 from genmsg.base import COMMENTCHAR, IODELIM
+import genmsg.msg_loader
 
 import rosidl_adapter.parser
 from rosidl_cmake import expand_template
@@ -408,7 +408,7 @@ def get_ros1_actions(rospack=None):
  # actual function: rosmsg.iterate_packages(rospack, rosmsg.MODE_MSG))
  pkgs = sorted(x for x in iterate_action_packages(rospack))
  for package_name, path in pkgs:
- for action_name in rosmsg._list_types(path, 'msg', ".action"):
+ for action_name in rosmsg._list_types(path, 'msg', '.action'):
  actions.append(Message(package_name, action_name, path))
  return actions
 
@@ -447,7 +447,8 @@ def get_ros2_actions():
  file=sys.stderr)
  continue
  for data in content:
- if all(n not in data for n in ('ros1_message_name', 'ros2_message_name', 'ros1_service_name', 'ros2_service_name')):
+ if (all(n not in data for n in ('ros1_message_name', 'ros2_message_name',
+ 'ros1_service_name', 'ros2_service_name'))):
  try:
  rules.append(ActionMappingRule(data, package_name))
  except Exception as e:
@@ -869,7 +870,9 @@ def determine_common_actions(
  # the check for 'builtin_interfaces' should be removed
  # once merged with __init__.py
  # It seems to handle it already
- if (ros1_type, ros2_type) not in message_string_pairs and not ros2_type.startswith("builtin_interfaces") and "GripperCommand" not in ros2_type:
+ if ((ros1_type, ros2_type) not in message_string_pairs and
+ not ros2_type.startswith('builtin_interfaces') and
+ 'GripperCommand' not in ros2_type):
  match = False
  break
  output[direction].append({
@@ -1074,6 +1077,7 @@ def load_ros1_service(ros1_srv):
 
 
 # genmsg/actions.py
+
 class ActionSpec(object):
 
  def __init__(self, goal, result, feedback, text, full_name='', short_name='', package=''):
@@ -1109,12 +1113,11 @@ def __ne__(self, other):
  return not self.__eq__(other)
 
  def __repr__(self):
- return "ActionSpec[%s, %s, %s]" % (repr(self.goal), repr(self.result), repr(self.feedback))
+ return 'ActionSpec[%s, %s, %s]' % (repr(self.goal), repr(self.result), repr(self.feedback))
 
 
 # genmsg.msg_loader
 
-
 def load_action_from_string(msg_context, text, full_name):
  """
  Load :class:`ActionSpec` from the .action file.
@@ -1132,15 +1135,15 @@ def load_action_from_string(msg_context, text, full_name):
  count = 0
  accum = text_goal
  for l in text.split('\n'):
- l = l.split(COMMENTCHAR)[0].strip() # strip comments
- if l.startswith(IODELIM): # lenient, by request
+ s = l.split(COMMENTCHAR)[0].strip() # strip comments
+ if s.startswith(IODELIM): # lenient, by request
  if count == 0:
  accum = text_result
  count = 1
  else:
  accum = text_feedback
  else:
- accum.write(l+'\n')
+ accum.write(s+'\n')
 
  # create separate MsgSpec objects for each half of file
  msg_goal = genmsg.msg_loader.load_msg_from_string(
@@ -1156,8 +1159,8 @@ def load_action_from_string(msg_context, text, full_name):
 def load_action_from_file(msg_context, file_path, full_name):
  """
  Convert the .action representation in the file to a :class:`MsgSpec` instance.
- NOTE: this will register the message in the *msg_context*.
 
+ NOTE: this will register the message in the *msg_context*.
  :param file_path: path of file to load from, ``str``
  :returns: :class:`MsgSpec` instance
  :raises: :exc:`InvalidMsgSpec`: if syntax errors or other problems are detected in file
@@ -1177,7 +1180,8 @@ def load_ros1_action(ros1_action):
  ros1_action.prefix_path, ros1_action.message_name + '.action')
  try:
  spec = load_action_from_file(
- msg_context, message_path, '%s/%s' % (ros1_action.package_name, ros1_action.message_name))
+ msg_context, message_path, '%s/%s' %
+ (ros1_action.package_name, ros1_action.message_name))
  except genmsg.InvalidMsgSpec:
  return None
  return spec
@@ -1245,7 +1249,7 @@ def load_ros2_action(ros2_action):
  spec = rosidl_adapter.parser.parse_action_file(
  ros2_action.package_name, actiom_path)
  except rosidl_adapter.parser.InvalidSpecification:
- print("Invalid spec")
+ print('Invalid spec')
  return None
  return spec
 

src/dynamic_bridge.cpp

@@ -19,7 +19,7 @@
 #include <string>
 #include <utility>
 #include <vector>
-#include <boost/algorithm/string/predicate.hpp>
+#include <boost/algorithm/string/predicate.hpp> // NOLINT
 
 // include ROS 1
 #ifdef __clang__
@@ -151,8 +151,10 @@ void update_bridge(
  std::map<std::string, Bridge2to1HandlesAndMessageTypes> & bridges_2to1,
  std::map<std::string, ros1_bridge::ServiceBridge1to2> & service_bridges_1_to_2,
  std::map<std::string, ros1_bridge::ServiceBridge2to1> & service_bridges_2_to_1,
- std::map<std::string, std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_1_to_2,
- std::map<std::string, std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_2_to_1,
+ std::map<std::string,
+ std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_1_to_2,
+ std::map<std::string,
+ std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_2_to_1,
  bool bridge_all_1to2_topics, bool bridge_all_2to1_topics)
 {
  std::lock_guard<std::mutex> lock(g_bridge_mutex);
@@ -569,9 +571,12 @@ inline bool is_action_topic(
  // action type is 'Fibonacci'
  if (!type.empty() && is_action_type) {
  std::string pkg_name = type.substr(0, type.find("/"));
- std::string action_type = type.substr(type.find_last_of("/") + 1, type.length() - (type.find_last_of("/") + type_ends_with.length() + 1));
+ std::string action_type =
+ type.substr(
+ type.find_last_of("/") + 1,
+ type.length() - (type.find_last_of("/") + type_ends_with.length() + 1));
  actions[name]["package"] = pkg_name;
- if(is_ros2) {
+ if (is_ros2) {
  actions[name]["type"] = "action/" + action_type;
  } else {
  actions[name]["type"] = action_type;
@@ -605,31 +610,34 @@ void get_active_ros1_actions(
 
  for (it = publishers.begin(); it != publishers.end(); it++) {
  // check for action client
- if (is_action_topic(
+ if (
+ is_action_topic(
  active_ros1_action_clients, action_client_nums, false,
  it->first.c_str(), "/cancel", it->second.c_str(), "/GoalID"))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros1_action_clients, action_client_nums, true,
  it->first.c_str(), "/goal", it->second.c_str(), "ActionGoal"))
  {
  continue;
- }
- // check for action server
- else if (is_action_topic(
+ } else if ( // NOLINT // check for action server
+ is_action_topic(
  active_ros1_action_servers, action_server_nums, true,
  it->first.c_str(), "/feedback", it->second.c_str(),
  "ActionFeedback"))
  {
  continue;
  }
- if (is_action_topic(
+ if (
+ is_action_topic(
  active_ros1_action_servers, action_server_nums, false,
  it->first.c_str(), "/result", it->second.c_str(), "ActionResult"))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros1_action_servers, action_server_nums, false,
  it->first.c_str(), "/status", it->second.c_str(),
  "GoalStatusArray"))
@@ -641,29 +649,32 @@ void get_active_ros1_actions(
  // subscribers do not report their types, but use it to confirm action
  for (it = subscribers.begin(); it != subscribers.end(); it++) {
  // check for action server
- if (is_action_topic(
+ if (
+ is_action_topic(
  active_ros1_action_servers, action_server_nums, false,
  it->first.c_str(), "/cancel", it->second.c_str(), ""))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros1_action_servers, action_server_nums, false,
  it->first.c_str(), "/goal", it->second.c_str(), ""))
  {
  continue;
- }
- // check for action client
- else if (is_action_topic(
+ } else if ( // NOLINT // check for action client
+ is_action_topic(
  active_ros1_action_clients, action_client_nums, false,
  it->first.c_str(), "/feedback", it->second.c_str(), ""))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros1_action_clients, action_client_nums, false,
  it->first.c_str(), "/result", it->second.c_str(), ""))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros1_action_clients, action_client_nums, false,
  it->first.c_str(), "/status", it->second.c_str(), ""))
  {
@@ -696,12 +707,14 @@ void get_active_ros2_actions(
  std::map<std::string, uint8_t>::iterator it_num;
  std::map<std::string, uint8_t> action_server_nums, action_client_nums;
  for (it = active_ros2_publishers.begin(); it != active_ros2_publishers.end(); it++) {
- if (is_action_topic(
+ if (
+ is_action_topic(
  active_ros2_action_servers, action_server_nums, true, it->first.c_str(),
  "/_action/feedback", it->second.c_str(), "_FeedbackMessage", true))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros2_action_servers, action_server_nums, false,
  it->first.c_str(), "/_action/status", it->second.c_str(),
  "GoalStatusArray"), true)
@@ -710,13 +723,15 @@ void get_active_ros2_actions(
  }
  }
  for (it = active_ros2_subscribers.begin(); it != active_ros2_subscribers.end(); it++) {
- if (is_action_topic(
+ if (
+ is_action_topic(
  active_ros2_action_clients, action_client_nums, true,
  it->first.c_str(), "/_action/feedback", it->second.c_str(),
  "_FeedbackMessage", true))
  {
  continue;
- } else if (is_action_topic(
+ } else if ( // NOLINT
+ is_action_topic(
  active_ros2_action_clients, action_client_nums, false,
  it->first.c_str(), "/_action/status", it->second.c_str(),
  "GoalStatusArray", true))
@@ -734,7 +749,6 @@ void get_active_ros2_actions(
  active_ros2_action_servers.erase(it_num->first);
  }
  }
-
 }
 
 int main(int argc, char * argv[])
@@ -889,7 +903,8 @@ int main(int argc, char * argv[])
  }
 
  // check actions
- std::map<std::string, std::map<std::string, std::string>> active_ros1_action_servers, active_ros1_action_clients;
+ std::map<std::string, std::map<std::string, std::string>> active_ros1_action_servers,
+ active_ros1_action_clients;
  get_active_ros1_actions(
  current_ros1_publishers, current_ros1_subscribers,
  active_ros1_action_servers, active_ros1_action_clients);
@@ -1066,7 +1081,8 @@ int main(int argc, char * argv[])
  }
  }
 
- std::map<std::string, std::map<std::string, std::string>> active_ros2_action_servers, active_ros2_action_clients;
+ std::map<std::string, std::map<std::string, std::string>> active_ros2_action_servers,
+ active_ros2_action_clients;
  get_active_ros2_actions(
  current_ros2_publishers, current_ros2_subscribers,
  active_ros2_action_servers, active_ros2_action_clients);