Adaptted "ament_uncrustify"

rt-net · Nov 20, 2024 · 182da8d · 182da8d
1 parent 3e395d3
commit 182da8d
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Showing 7 changed files with 17 additions and 15 deletions.
diff --git a/include/raspimouse_ros2_examples/camera_line_follower_component.hpp b/include/raspimouse_ros2_examples/camera_line_follower_component.hpp
@@ -51,7 +51,7 @@ class CameraFollower : public rclcpp_lifecycle::LifecycleNode
   double object_normalized_area_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>> result_image_pub_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
-    cmd_vel_pub_;
+  cmd_vel_pub_;
   std::shared_ptr<rclcpp::Client<std_srvs::srv::SetBool>> motor_power_client_;
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
   rclcpp::Subscription<raspimouse_msgs::msg::Switches>::SharedPtr switches_sub_;

diff --git a/include/raspimouse_ros2_examples/line_follower_component.hpp b/include/raspimouse_ros2_examples/line_follower_component.hpp
@@ -73,7 +73,7 @@ class Follower : public rclcpp_lifecycle::LifecycleNode
 
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Int16>> buzzer_pub_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
-    cmd_vel_pub_;
+  cmd_vel_pub_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<raspimouse_msgs::msg::Leds>> leds_pub_;
   rclcpp::Subscription<raspimouse_msgs::msg::LightSensors>::SharedPtr light_sensors_sub_;
   rclcpp::Subscription<raspimouse_msgs::msg::Switches>::SharedPtr switches_sub_;

diff --git a/include/raspimouse_ros2_examples/object_tracking_component.hpp b/include/raspimouse_ros2_examples/object_tracking_component.hpp
@@ -49,7 +49,7 @@ class Tracker : public rclcpp_lifecycle::LifecycleNode
   geometry_msgs::msg::TwistStamped cmd_vel_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>> result_image_pub_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
-    cmd_vel_pub_;
+  cmd_vel_pub_;
   std::shared_ptr<rclcpp::Client<std_srvs::srv::SetBool>> motor_power_client_;
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
   rclcpp::TimerBase::SharedPtr cmd_vel_timer_;

diff --git a/src/camera_line_follower_component.cpp b/src/camera_line_follower_component.cpp
@@ -81,7 +81,8 @@ void CameraFollower::on_cmd_vel_timer()
   // when the number of pixels of the object is greater than the threshold.
   if (
     object_is_detected_ &&
-    object_normalized_area_ > get_parameter(AREA_THRESHOLD_PARAM).as_double()) {
+    object_normalized_area_ > get_parameter(AREA_THRESHOLD_PARAM).as_double())
+  {
     cmd_vel.twist.linear.x = get_parameter(LINEAR_VEL_PARAM).as_double();
     cmd_vel.twist.angular.z =
       -get_parameter(ANGULAR_VEL_PARAM).as_double() * object_normalized_point_.x;

diff --git a/src/direction_controller_component.cpp b/src/direction_controller_component.cpp
@@ -35,7 +35,8 @@ enum CONTROL_MODE
   MODE_ROTATION = 3
 };
 
-Controller::Controller(const rclcpp::NodeOptions & options) : Node("direction_controller", options)
+Controller::Controller(const rclcpp::NodeOptions & options)
+: Node("direction_controller", options)
 {
   using namespace std::placeholders;  // for _1, _2, _3...
 
@@ -185,7 +186,7 @@ bool Controller::omega_calibration(const double omega)
 
   if (omega_samples_.size() >= SAMPLE_NUM) {
     omega_bias_ = std::accumulate(std::begin(omega_samples_), std::end(omega_samples_), 0.0) /
-                  omega_samples_.size();
+      omega_samples_.size();
     omega_samples_.clear();
     complete = true;
   }
@@ -261,7 +262,7 @@ void Controller::beep_buzzer(const int freq, const std::chrono::nanoseconds & be
   buzzer_pub_->publish(std::move(msg));
 }
 
-void Controller::beep_start(void) { beep_buzzer(1000, 500ms); }
+void Controller::beep_start(void) {beep_buzzer(1000, 500ms);}
 
 void Controller::beep_success(void)
 {

diff --git a/src/lifecycle_node_manager.cpp b/src/lifecycle_node_manager.cpp
@@ -60,23 +60,23 @@ bool all_nodes_are_unconfigured(
   rclcpp::Node::SharedPtr node, const std::vector<std::string> & target_node_names)
 {
   return std::all_of(target_node_names.begin(), target_node_names.end(), [&](std::string s) {
-    return state_of(s, node, 10s) == MsgState::PRIMARY_STATE_UNCONFIGURED;
+             return state_of(s, node, 10s) == MsgState::PRIMARY_STATE_UNCONFIGURED;
   });
 }
 
 bool all_nodes_are_inactive(
   rclcpp::Node::SharedPtr node, const std::vector<std::string> & target_node_names)
 {
   return std::all_of(target_node_names.begin(), target_node_names.end(), [&](std::string s) {
-    return state_of(s, node, 10s) == MsgState::PRIMARY_STATE_INACTIVE;
+             return state_of(s, node, 10s) == MsgState::PRIMARY_STATE_INACTIVE;
   });
 }
 
 bool all_nodes_are_active(
   rclcpp::Node::SharedPtr node, const std::vector<std::string> & target_node_names)
 {
   return std::all_of(target_node_names.begin(), target_node_names.end(), [&](std::string s) {
-    return state_of(s, node, 10s) == MsgState::PRIMARY_STATE_ACTIVE;
+             return state_of(s, node, 10s) == MsgState::PRIMARY_STATE_ACTIVE;
   });
 }
 
@@ -112,15 +112,15 @@ bool configure_all_nodes(
   rclcpp::Node::SharedPtr node, const std::vector<std::string> & target_node_names)
 {
   return std::all_of(target_node_names.begin(), target_node_names.end(), [&](std::string s) {
-    return change_state(s, node, MsgTransition::TRANSITION_CONFIGURE, 10s);
+             return change_state(s, node, MsgTransition::TRANSITION_CONFIGURE, 10s);
   });
 }
 
 bool activate_all_nodes(
   rclcpp::Node::SharedPtr node, const std::vector<std::string> & target_node_names)
 {
   return std::all_of(target_node_names.begin(), target_node_names.end(), [&](std::string s) {
-    return change_state(s, node, MsgTransition::TRANSITION_ACTIVATE, 10s);
+             return change_state(s, node, MsgTransition::TRANSITION_ACTIVATE, 10s);
   });
 }
 

diff --git a/src/line_follower_component.cpp b/src/line_follower_component.cpp
@@ -127,10 +127,10 @@ void Follower::publish_cmdvel_for_line_following(void)
 
   bool detect_line = std::any_of(
     line_is_detected_by_sensor_.begin(), line_is_detected_by_sensor_.end(),
-    [](bool detected) { return detected; });
+    [](bool detected) {return detected;});
   bool detect_field = std::any_of(
     line_is_detected_by_sensor_.begin(), line_is_detected_by_sensor_.end(),
-    [](bool detected) { return !detected; });
+    [](bool detected) {return !detected;});
 
   if (detect_line && detect_field) {
     cmd_vel->twist.linear.x = VEL_LINEAR_X;
@@ -201,7 +201,7 @@ void Follower::beep_buzzer(const int freq, const std::chrono::nanoseconds & beep
   buzzer_pub_->publish(std::move(msg));
 }
 
-void Follower::beep_start(void) { beep_buzzer(1000, 500ms); }
+void Follower::beep_start(void) {beep_buzzer(1000, 500ms);}
 
 void Follower::beep_success(void)
 {