[pre-commit] Beautification

Author: olivier-stasse

include/dynamic_graph_bridge/ros.hpp

@@ -67,7 +67,6 @@ typedef std_srvs::srv::Empty EmptyServiceType;
  */
 RosNodePtr get_ros_node(std::string node_name);
 
-
 size_t ros_executor_get_nb_threads();
 
 void ros_display_list_of_nodes();

include/dynamic_graph_bridge/sot_loader.hh

@@ -80,7 +80,7 @@ class SotLoader : public SotLoaderBasic {
   geometry_msgs::msg::TransformStamped freeFlyerPose_;
 
  public:
-  SotLoader(const std::string &aNodeName=std::string("sot_loader"));
+  SotLoader(const std::string &aNodeName = std::string("sot_loader"));
   virtual ~SotLoader();
 
   // \brief Create a thread for ROS and start the control loop.

include/dynamic_graph_bridge/sot_loader_basic.hh

@@ -38,7 +38,7 @@
 namespace po = boost::program_options;
 namespace dgs = dynamicgraph::sot;
 
-class SotLoaderBasic  {
+class SotLoaderBasic {
  protected:
   // RosNode
   dynamic_graph_bridge::RosNodePtr ros_node_;
@@ -83,9 +83,9 @@ class SotLoaderBasic  {
   // Ordered list of joint names describing the robot state.
   std::vector<std::string> stateVectorMap_;
 
-
  public:
-  SotLoaderBasic(const std::string& aNodeName = std::string("sot_loader_basic"));
+  SotLoaderBasic(
+      const std::string& aNodeName = std::string("sot_loader_basic"));
   virtual ~SotLoaderBasic();
 
   // \brief Read user input to extract the path of the SoT dynamic library.

scripts/remote_python_client.py

@@ -24,10 +24,10 @@
 from pathlib import Path
 
 import rclpy
+from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
 
 # Used to connect to ROS services
 from dynamic_graph_bridge.ros.dgcompleter import DGCompleter
-from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
 
 
 def signal_handler(sig, frame):

src/ros.cpp

@@ -211,7 +211,6 @@ std::string executable_name() {
 #endif
 }
 
-
 /**
  * @brief Private function that allow us to initialize ROS only once.
  */
@@ -288,14 +287,13 @@ size_t ros_executor_get_nb_threads() {
 void ros_display_list_of_nodes() {
   GlobalListOfRosNodeType::iterator ros_node_it =
       GLOBAL_LIST_OF_ROS_NODE.begin();
-  while(ros_node_it!=GLOBAL_LIST_OF_ROS_NODE.end()) {
+  while (ros_node_it != GLOBAL_LIST_OF_ROS_NODE.end()) {
     RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
                 "ros_display_list_of_nodes: %s/%s",
                 ros_node_it->second->get_namespace(),
                 ros_node_it->second->get_name());
     ros_node_it++;
   }
-
 }
 
 void ros_clean() {

src/ros_python_interpreter_server.cpp

@@ -31,18 +31,19 @@ void RosPythonInterpreterServer::start_ros_service() {
                 std::placeholders::_1, std::placeholders::_2);
   run_python_command_srv_ = ros_node_->create_service<RunPythonCommandSrvType>(
       "/dynamic_graph_bridge/run_python_command", runCommandCb);
-  RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
-              "RosPythonInterpreterServer::start_ros_service - run_python_command...");
+  RCLCPP_INFO(
+      rclcpp::get_logger("dynamic_graph_bridge"),
+      "RosPythonInterpreterServer::start_ros_service - run_python_command...");
 
   run_python_file_callback_t runPythonFileCb =
       std::bind(&RosPythonInterpreterServer::runPythonFileCallback, this,
                 std::placeholders::_1, std::placeholders::_2);
   run_python_file_srv_ = ros_node_->create_service<RunPythonFileSrvType>(
       "/dynamic_graph_bridge/run_python_file", runPythonFileCb);
 
-  RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
-              "RosPythonInterpreterServer::start_ros_service - run_python_file...");
-
+  RCLCPP_INFO(
+      rclcpp::get_logger("dynamic_graph_bridge"),
+      "RosPythonInterpreterServer::start_ros_service - run_python_file...");
 }
 
 void RosPythonInterpreterServer::runCommandCallback(

src/sot_loader.cpp

@@ -226,8 +226,10 @@ void SotLoader::workThreadLoader() {
   double periodd;
 
   /// Declare parameters
-  if (not ros_node_->has_parameter("dt")) ros_node_->declare_parameter<double>("dt", 0.01);
-  if (not ros_node_->has_parameter("paused")) ros_node_->declare_parameter<bool>("paused", false);
+  if (not ros_node_->has_parameter("dt"))
+    ros_node_->declare_parameter<double>("dt", 0.01);
+  if (not ros_node_->has_parameter("paused"))
+    ros_node_->declare_parameter<bool>("paused", false);
 
   //
   ros_node_->get_parameter_or("dt", periodd, 0.001);

src/sot_loader_basic.cpp

@@ -31,7 +31,6 @@ SotLoaderBasic::SotLoaderBasic(const std::string& aNodeName)
       dynamic_graph_stopped_(true),
       sotController_(NULL),
       sotRobotControllerLibrary_(0) {
-
   ros_node_ = dynamic_graph_bridge::get_ros_node(aNodeName);
 
   RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge::"),
@@ -51,8 +50,8 @@ int SotLoaderBasic::initPublication() {
   RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
               "SotLoaderBasic::initPublication - create joint_pub");
 
-  joint_pub_ = ros_node_->
-      create_publisher<sensor_msgs::msg::JointState>("joint_states", 1);
+  joint_pub_ = ros_node_->create_publisher<sensor_msgs::msg::JointState>(
+      "joint_states", 1);
 
   RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
               "SotLoaderBasic::initPublication - after create joint_pub");
@@ -65,19 +64,17 @@ void SotLoaderBasic::initializeServices() {
       "SotLoaderBasic::initializeServices - Ready to start dynamic graph.");
 
   using namespace std::placeholders;
-  service_start_ = ros_node_->
-      create_service<std_srvs::srv::Empty>(
-          "start_dynamic_graph",
-          std::bind(&SotLoaderBasic::start_dg, this, std::placeholders::_1,
-                    std::placeholders::_2));
+  service_start_ = ros_node_->create_service<std_srvs::srv::Empty>(
+      "start_dynamic_graph",
+      std::bind(&SotLoaderBasic::start_dg, this, std::placeholders::_1,
+                std::placeholders::_2));
   RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
               "SotLoaderBasic::initializeServices - start_dynamic_graph.");
 
-  service_stop_ = ros_node_->
-      create_service<std_srvs::srv::Empty>(
-          "stop_dynamic_graph",
-          std::bind(&SotLoaderBasic::stop_dg, this, std::placeholders::_1,
-                    std::placeholders::_2));
+  service_stop_ = ros_node_->create_service<std_srvs::srv::Empty>(
+      "stop_dynamic_graph",
+      std::bind(&SotLoaderBasic::stop_dg, this, std::placeholders::_1,
+                std::placeholders::_2));
   RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
               "SotLoaderBasic::initializeServices - stop_dynamic_graph.");
 
@@ -95,9 +92,11 @@ int SotLoaderBasic::readSotVectorStateParam() {
   // It is necessary to declare parameters first
   // before trying to access them.
   if (not ros_node_->has_parameter("state_vector_map"))
-    ros_node_->declare_parameter("state_vector_map", std::vector<std::string>{});
+    ros_node_->declare_parameter("state_vector_map",
+                                 std::vector<std::string>{});
   if (not ros_node_->has_parameter("joint_state_parallel"))
-    ros_node_->declare_parameter("joint_state_parallel", std::vector<std::string>{});
+    ros_node_->declare_parameter("joint_state_parallel",
+                                 std::vector<std::string>{});
 
   // Read the state vector of the robot
   // Defines the order in which the actuators are ordered
@@ -208,8 +207,7 @@ void SotLoaderBasic::loadController() {
       dlopen(dynamicLibraryName_.c_str(), RTLD_LAZY | RTLD_GLOBAL);
   if (!sotRobotControllerLibrary_) {
     RCLCPP_ERROR(rclcpp::get_logger("dynamic_graph_bridge"),
-                 "Cannot load library: %s",
-                 dlerror());
+                 "Cannot load library: %s", dlerror());
     return;
   }
 
@@ -223,9 +221,8 @@ void SotLoaderBasic::loadController() {
   const char* dlsym_error = dlerror();
   if (dlsym_error) {
     RCLCPP_ERROR(rclcpp::get_logger("dynamic_graph_bridge"),
-                 "Cannot load symbol create: %s from %s",
-                 dlsym_error,
-                 dynamicLibraryName_.c_str() );
+                 "Cannot load symbol create: %s from %s", dlsym_error,
+                 dynamicLibraryName_.c_str());
     return;
   }
 

tests/CMakeLists.txt

@@ -67,8 +67,8 @@ if(BUILD_TESTING)
     PUBLIC include "${GMOCK_INCLUDE_DIRS}"
     PRIVATE ${PROJECT_SOURCE_DIR}/include)
   target_compile_definitions(
-      test_sot_loader
-      PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
+    test_sot_loader
+    PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
   target_link_libraries(test_sot_loader sot_loader "${GMOCK_LIBRARIES}")
 
   add_launch_test(launch/launching_test_sot_loader.py)
@@ -116,8 +116,7 @@ if(BUILD_TESTING)
                               rclcpp rcl_interfaces std_srvs)
 
     # Install tests
-    install(TARGETS test_${test_name}
-      DESTINATION lib/${PROJECT_NAME})
+    install(TARGETS test_${test_name} DESTINATION lib/${PROJECT_NAME})
 
   endmacro(create_ros_bridge_unittest test_name)
 

tests/impl_test_sot_external_interface.cpp

@@ -79,7 +79,8 @@ void ImplTestSotExternalInterface::setupSetSensors(
 
 void ImplTestSotExternalInterface::nominalSetSensors(
     std::map<std::string, dynamicgraph::sot::SensorValues> &) {
-  //  std::cout << "ImplTestSotExternalInterface::nominalSetSensors" << std::endl;
+  //  std::cout << "ImplTestSotExternalInterface::nominalSetSensors" <<
+  //  std::endl;
 }
 
 void ImplTestSotExternalInterface::cleanupSetSensors(