style(pre-commit): autofix

autowarefoundation · Feb 12, 2024 · 2c7d4e4 · 2c7d4e4
1 parent b59c925
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Showing 4 changed files with 60 additions and 106 deletions.
diff --git a/common/autoware_node/include/autoware_node/autoware_node.hpp b/common/autoware_node/include/autoware_node/autoware_node.hpp
@@ -16,6 +16,10 @@
 #define AUTOWARE_NODE__AUTOWARE_NODE_HPP_
 
 #include "autoware_node/visibility_control.hpp"
+#include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/subscription_traits.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "autoware_control_center_msgs/msg/autoware_node_state.hpp"
@@ -24,11 +28,6 @@
 #include "autoware_control_center_msgs/srv/autoware_node_error.hpp"
 #include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
 
-#include "rclcpp/subscription_options.hpp"
-#include "rclcpp/subscription.hpp"
-#include "rclcpp/subscription_traits.hpp"
-#include "rclcpp/message_memory_strategy.hpp"
-
 #include <string>
 
 namespace autoware_node
@@ -42,51 +41,32 @@ class AutowareNode : public rclcpp_lifecycle::LifecycleNode
     const std::string & node_name, const std::string & ns = "",
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
-  template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT = std::allocator<void>,
-  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
+  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_strat = (
-      MessageMemoryStrategyT::create_default()
-    )
-  );
+    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_strat =
+      (MessageMemoryStrategyT::create_default()));
 
-  template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT = std::allocator<void>,
-  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
+  template <
+    typename MessageT, typename CallbackT, typename AllocatorT = std::allocator<void>,
+    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
   std::shared_ptr<SubscriptionT> create_simple_monitored_subscription(
-    const std::string & topic_name,
-    const rclcpp::QoS & qos,
-    CallbackT && callback);
+    const std::string & topic_name, const rclcpp::QoS & qos, CallbackT && callback);
 
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename AllocatorT = std::allocator<void>,
+  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>
-  test_create_subscription(
-    const std::string & topic_name,
-    const rclcpp::QoS & qos,
-    CallbackT && callback,
+  std::shared_ptr<SubscriptionT> test_create_subscription(
+    const std::string & topic_name, const rclcpp::QoS & qos, CallbackT && callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options =
-    rclcpp_lifecycle::create_default_subscription_options<AllocatorT>(),
-    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-      MessageMemoryStrategyT::create_default()
-    )
-  );
+      rclcpp_lifecycle::create_default_subscription_options<AllocatorT>(),
+    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat =
+      (MessageMemoryStrategyT::create_default()));
 
   rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
 

diff --git a/common/autoware_node/src/autoware_node.cpp b/common/autoware_node/src/autoware_node.cpp
@@ -189,90 +189,64 @@ void AutowareNode::send_state(
   RCLCPP_INFO(get_logger(), "Send node state");
 }
 
-template<
-typename MessageT,
-typename CallbackT,
-typename AllocatorT = std::allocator<void>,
-typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
+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> AutowareNode::create_monitored_subscription(
-  const std::string & topic_name,
-  const float hz, 
-  const rclcpp::QoS & qos,
-  CallbackT && callback,
+  const std::string & topic_name, const float hz, const rclcpp::QoS & qos, CallbackT && callback,
   const rclcpp::SubscriptionOptions & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
-  // create proper qos based on input parameter 
-  // update lease duration and deadline in qos 
+  // create proper qos based on input parameter
+  // update lease duration and deadline in qos
   RCLCPP_INFO(get_logger(), "Create monitored subscription");
   std::chrono::milliseconds lease_duration = 1.0 / hz * 1000;
-  lease_duration = 1.1 * lease_duration; // add 10 % gap to lease duration (buffer) 
+  lease_duration = 1.1 * lease_duration;  // 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_INFO(get_logger(), "Requested deadline missed - total %d delta %d\n",
-                   event.total_count, event.total_count_change);
-                // add NodeError service call 
-                std::string msg = "Deadline for topic " + topic_name + " was missed.";
-                autoware_control_center_msgs::msg::AutowareNodeState node_state;
-                node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::ERROR;
-                send_state(node_state, msg);
+  sub_options.event_callbacks.deadline_callback =
+    [=](rclcpp::QOSDeadlineRequestedInfo & event) -> void {
+    RCLCPP_INFO(
+      get_logger(), "Requested deadline missed - total %d delta %d\n", event.total_count,
+      event.total_count_change);
+    // add NodeError service call
+    std::string msg = "Deadline for topic " + topic_name + " was missed.";
+    autoware_control_center_msgs::msg::AutowareNodeState node_state;
+    node_state.status = autoware_control_center_msgs::msg::AutowareNodeState::ERROR;
+    send_state(node_state, msg);
   };
 
-  return rclcpp::create_subscription<MessageT>  (
-      *this,
-      topic_name,
-      qos_profile,
-      std::forward<CallbackT>(callback),
-      sub_options,
-      msg_mem_strat);
+  return rclcpp::create_subscription<MessageT>(
+    *this, topic_name, qos_profile, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
 }
 
-template<
-typename MessageT,
-typename CallbackT,
-typename AllocatorT = std::allocator<void>,
-typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
+template <
+  typename MessageT, typename CallbackT, typename AllocatorT = std::allocator<void>,
+  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
 std::shared_ptr<SubscriptionT> AutowareNode::create_simple_monitored_subscription(
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  CallbackT && callback)
+  const std::string & topic_name, const rclcpp::QoS & qos, CallbackT && callback)
 {
   return rclcpp_lifecycle::LifecycleNode::create_subscription<MessageT>(
-    topic_name,
-    qos,
-    std::forward<CallbackT>(callback));
+    topic_name, qos, std::forward<CallbackT>(callback));
 }
 
-
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT = std::allocator<void>,
+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>
-AutowareNode::test_create_subscription(
-  const std::string & topic_name,
-  const rclcpp::QoS & qos,
-  CallbackT && callback,
+std::shared_ptr<SubscriptionT> AutowareNode::test_create_subscription(
+  const std::string & topic_name, const rclcpp::QoS & qos, CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
   RCLCPP_INFO(get_logger(), "call test_create_subscription");
   return rclcpp::create_subscription<MessageT>(
-    *this,
-    topic_name,
-    qos,
-    std::forward<CallbackT>(callback),
-    options,
-    msg_mem_strat);
+    *this, topic_name, qos, std::forward<CallbackT>(callback), options, msg_mem_strat);
 }
 
 }  // namespace autoware_node
diff --git a/common/test_node/include/test_node/test_node.hpp b/common/test_node/include/test_node/test_node.hpp
@@ -19,7 +19,6 @@
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "test_node/visibility_control.hpp"
 
-
 #include "std_msgs/msg/string.hpp"
 namespace test_node
 {

diff --git a/common/test_node/src/test_node.cpp b/common/test_node/src/test_node.cpp
@@ -21,22 +21,23 @@ namespace test_node
 
 using std::placeholders::_1;
 
-
 TestNode::TestNode(const rclcpp::NodeOptions & options)
 : autoware_node::AutowareNode("test_node", "", options)
 {
   RCLCPP_INFO(
     get_logger(), "TestNode constructor with name %s",
     autoware_node::AutowareNode::self_name.c_str());
-  // monitored_subscription_ = autoware_node::AutowareNode::create_monitored_subscription<std_msgs::msg::String>(
+  // monitored_subscription_ =
+  // autoware_node::AutowareNode::create_monitored_subscription<std_msgs::msg::String>(
   //   "topic", 10, 10, std::bind(&TestNode::topic_callback, this, _1));
-  // monitored_subscription_ = autoware_node::AutowareNode::create_simple_monitored_subscription<std_msgs::msg::String>(
+  // monitored_subscription_ =
+  // autoware_node::AutowareNode::create_simple_monitored_subscription<std_msgs::msg::String>(
   //   "topic", 10, std::bind(&TestNode::topic_callback, this, _1)
   // );
 
-  monitored_subscription_  = autoware_node::AutowareNode::test_create_subscription<std_msgs::msg::String>(
-    "topic", 10, std::bind(&TestNode::topic_callback, this, _1));
-
+  monitored_subscription_ =
+    autoware_node::AutowareNode::test_create_subscription<std_msgs::msg::String>(
+      "topic", 10, std::bind(&TestNode::topic_callback, this, _1));
 }
 
 void TestNode::topic_callback(const std_msgs::msg::String::SharedPtr msg)