Uncrustify run without lambdas

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
osrf · Nov 12, 2024 · d57a63c · d57a63c
1 parent 425c47c
commit d57a63c
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Showing 36 changed files with 266 additions and 210 deletions.
diff --git a/nexus_capabilities/src/capabilities/detection.cpp b/nexus_capabilities/src/capabilities/detection.cpp
@@ -95,7 +95,7 @@ bool DetectOffset::on_response(
   pose.pose = found_detection->bbox.center;
   RCLCPP_DEBUG_STREAM(this->_logger,
     *item << " is at " << pose.pose << " frame [" << pose.header.frame_id <<
-      "]");
+    "]");
   this->setOutput("result", pose);
   return true;
 }
@@ -171,7 +171,8 @@ BT::NodeStatus DetectAllItems::onRunning()
     if (d.id != *this->_cur_it)
     {
       RCLCPP_WARN(
-        this->_node->get_logger(), "detector requested to detect [%s] but it responded with [%s], ignoring the result",
+        this->_node->get_logger(),
+        "detector requested to detect [%s] but it responded with [%s], ignoring the result",
         this->_cur_it->c_str(), d.id.c_str());
       continue;
     }

diff --git a/nexus_capabilities/src/capabilities/detection_capability.cpp b/nexus_capabilities/src/capabilities/detection_capability.cpp
@@ -63,15 +63,17 @@ void DetectionCapability::configure(
       auto node = w_node.lock();
       if (!node)
       {
-        std::cerr << "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!" << std::endl;
+        std::cerr <<
+          "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!"
+                  << std::endl;
         std::terminate();
       }
 
       return std::make_unique<DetectOffset>(name, config,
-      node->get_logger(), ctx_mgr, [this, node](const std::string& detector)
-      {
-        return this->_clients.at(detector);
-      });
+        node->get_logger(), ctx_mgr, [this, node](const std::string& detector)
+        {
+          return this->_clients.at(detector);
+        });
     });
 
   bt_factory.registerBuilder<DetectAllItems>(
@@ -82,15 +84,17 @@ void DetectionCapability::configure(
       auto node = w_node.lock();
       if (!node)
       {
-        std::cerr << "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!" << std::endl;
+        std::cerr <<
+          "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!"
+                  << std::endl;
         std::terminate();
       }
 
       return std::make_unique<DetectAllItems>(name, config, node, ctx_mgr,
-      [this](const std::string& detector)
-      {
-        return this->_clients.at(detector);
-      });
+        [this](const std::string& detector)
+        {
+          return this->_clients.at(detector);
+        });
     });
 
   bt_factory.registerBuilder<GetDetection>(

diff --git a/nexus_capabilities/src/capabilities/dispense_item.hpp b/nexus_capabilities/src/capabilities/dispense_item.hpp
@@ -85,7 +85,8 @@ protected: endpoints::DispenserService::ServiceType::Request::SharedPtr
   make_request() final;
 
 protected: bool on_response(
-    rclcpp::Client<endpoints::DispenserService::ServiceType>::SharedResponse resp)
+    rclcpp::Client<endpoints::DispenserService::ServiceType>::SharedResponse
+    resp)
   final;
 
 private: std::vector<DispenserSession> _dispensers;

diff --git a/nexus_capabilities/src/capabilities/dispense_item_capability.cpp b/nexus_capabilities/src/capabilities/dispense_item_capability.cpp
@@ -49,7 +49,7 @@ void DispenseItemCapability::declare_params(
 //==============================================================================
 void DispenseItemCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
-  std::shared_ptr<const ContextManager> /* ctx_mgr */,
+  std::shared_ptr<const ContextManager>/* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
 {
   auto dispenser_ids = node->get_parameter("dispensers").as_string_array();
@@ -74,7 +74,7 @@ void DispenseItemCapability::configure(
     {
       auto node = w_node.lock();
       return std::make_unique<DispenseItem>(name, config,
-      node, this->_dispensers, std::chrono::milliseconds{dispenser_timeout});
+        node, this->_dispensers, std::chrono::milliseconds{dispenser_timeout});
     });
 }
 

diff --git a/nexus_capabilities/src/capabilities/execute_trajectory_capability.cpp b/nexus_capabilities/src/capabilities/execute_trajectory_capability.cpp
@@ -27,7 +27,7 @@ namespace nexus::capabilities {
 
 void ExecuteTrajectoryCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
-  std::shared_ptr<const ContextManager> /* ctx_mgr */,
+  std::shared_ptr<const ContextManager>/* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
 {
   bt_factory.registerBuilder<ExecuteTrajectory>(
@@ -38,7 +38,9 @@ void ExecuteTrajectoryCapability::configure(
       auto node = w_node.lock();
       if (!node)
       {
-        std::cerr << "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!" << std::endl;
+        std::cerr <<
+          "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!"
+                  << std::endl;
         std::terminate();
       }
 

diff --git a/nexus_capabilities/src/capabilities/execute_trajectory_capability.hpp b/nexus_capabilities/src/capabilities/execute_trajectory_capability.hpp
@@ -15,10 +15,8 @@
  *
  */
 
-#ifndef \
-  NEXUS_CAPABILITIES__CAPABILITIES__EXECUTE_TRAJECTORY_CAPABILITY_HPP
-#define \
-  NEXUS_CAPABILITIES__CAPABILITIES__EXECUTE_TRAJECTORY_CAPABILITY_HPP
+#ifndef NEXUS_CAPABILITIES__CAPABILITIES__EXECUTE_TRAJECTORY_CAPABILITY_HPP
+#define NEXUS_CAPABILITIES__CAPABILITIES__EXECUTE_TRAJECTORY_CAPABILITY_HPP
 
 #include <nexus_capabilities/capability.hpp>
 #include <nexus_capabilities/context_manager.hpp>

diff --git a/nexus_capabilities/src/capabilities/gripper_capability.cpp b/nexus_capabilities/src/capabilities/gripper_capability.cpp
@@ -33,7 +33,7 @@ void GripperCapability::declare_params(rclcpp_lifecycle::LifecycleNode& node)
 
 void GripperCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
-  std::shared_ptr<const ContextManager> /* ctx_mgr */,
+  std::shared_ptr<const ContextManager>/* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
 {
   auto grippers = node->get_parameter("grippers").as_string_array();

diff --git a/nexus_capabilities/src/capabilities/plan_motion.cpp b/nexus_capabilities/src/capabilities/plan_motion.cpp
@@ -133,14 +133,15 @@ make_request()
 
   RCLCPP_DEBUG_STREAM(this->_logger,
     "planning to " << req->goal_pose.pose << " at frame " <<
-      req->goal_pose.header.frame_id << " with cartesian " << req->cartesian << "and scaled speed of " <<
-      scale_speed);
+    req->goal_pose.header.frame_id << " with cartesian " << req->cartesian <<
+    "and scaled speed of " << scale_speed);
 
   return req;
 }
 
 bool PlanMotion::on_response(
-  rclcpp::Client<endpoints::GetMotionPlanService::ServiceType>::SharedResponse resp)
+  rclcpp::Client<endpoints::GetMotionPlanService::ServiceType>::SharedResponse
+  resp)
 {
   if (resp->result.error_code.val !=
     moveit_msgs::msg::MoveItErrorCodes::SUCCESS)

diff --git a/nexus_capabilities/src/capabilities/plan_motion.hpp b/nexus_capabilities/src/capabilities/plan_motion.hpp
@@ -82,7 +82,8 @@ public: static BT::PortsList providedPorts()
 public: PlanMotion(const std::string& name,
     const BT::NodeConfiguration& config,
     rclcpp_lifecycle::LifecycleNode& node,
-    rclcpp::Client<endpoints::GetMotionPlanService::ServiceType>::SharedPtr client,
+    rclcpp::Client<endpoints::GetMotionPlanService::ServiceType>::SharedPtr
+    client,
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster)
   : ServiceClientBtNode<endpoints::GetMotionPlanService::ServiceType>(name,
       config, node.get_logger(), std::chrono::minutes{1}), _node{node},
@@ -100,7 +101,8 @@ protected: endpoints::GetMotionPlanService::ServiceType::Request::SharedPtr
   make_request() final;
 
 protected: bool on_response(
-    rclcpp::Client<endpoints::GetMotionPlanService::ServiceType>::SharedResponse resp)
+    rclcpp::Client<endpoints::GetMotionPlanService::ServiceType>::SharedResponse
+    resp)
   final;
 
 private: rclcpp_lifecycle::LifecycleNode& _node;

diff --git a/nexus_capabilities/src/capabilities/plan_motion_capability.cpp b/nexus_capabilities/src/capabilities/plan_motion_capability.cpp
@@ -29,7 +29,7 @@ namespace nexus::capabilities {
 
 void PlanMotionCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
-  std::shared_ptr<const ContextManager> /* ctx_mgr */,
+  std::shared_ptr<const ContextManager>/* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
 {
   this->_client =
@@ -41,7 +41,7 @@ void PlanMotionCapability::configure(
     const BT::NodeConfiguration& config)
     {
       return std::make_unique<PlanMotion>(name, config, *node, this->_client,
-      tf_broadcaster);
+        tf_broadcaster);
     });
 }
 

diff --git a/nexus_common/include/nexus_common/action_client_bt_node.hpp b/nexus_common/include/nexus_common/action_client_bt_node.hpp
@@ -79,7 +79,8 @@ protected: virtual void on_feedback(typename ActionT::Feedback::ConstSharedPtr);
    * the action is considered a success and false otherwise.
    */
 protected: virtual bool on_result(
-    const typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult& result);
+    const typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult&
+    result);
 
 private: rclcpp::executors::SingleThreadedExecutor _executor;
 private: rclcpp::CallbackGroup::SharedPtr _cb_group;
@@ -131,7 +132,7 @@ BT::NodeStatus ActionClientBtNode<NodePtrT, ActionT>::onStart()
   typename rclcpp_action::Client<ActionT>::SendGoalOptions options;
   options.feedback_callback =
     [this](typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr,
-      typename ActionT::Feedback::ConstSharedPtr feedback)
+    typename ActionT::Feedback::ConstSharedPtr feedback)
     {
       this->on_feedback(feedback);
     };

diff --git a/nexus_common/include/nexus_common/batch_service_call.hpp b/nexus_common/include/nexus_common/batch_service_call.hpp
@@ -64,7 +64,7 @@ struct BatchServiceResult
  */
 template<typename NodePtrT, typename ServiceT, typename KeyT,
   typename DoneCallbackT = std::function<void(const std::unordered_map<KeyT,
-  BatchServiceResult<ServiceT>>&)>>
+  BatchServiceResult<ServiceT>>& )>>
 CancellationToken batch_service_call(
   NodePtrT node,
   const std::unordered_map<KeyT, BatchServiceReq<ServiceT>>& batch_reqs,

diff --git a/nexus_common/src/action_client_bt_node_test.cpp b/nexus_common/src/action_client_bt_node_test.cpp
@@ -44,7 +44,8 @@ public: static BT::PortsList providedPorts()
 
 public: TestActionBtNode(const std::string& name,
     const BT::NodeConfiguration& config, rclcpp::Node::SharedPtr node,
-    rclcpp_action::Client<example_interfaces::action::Fibonacci>::SharedPtr client)
+    rclcpp_action::Client<example_interfaces::action::Fibonacci>::SharedPtr
+    client)
   : ActionClientBtNode<rclcpp::Node::SharedPtr,
       example_interfaces::action::Fibonacci>(name, config, node),
     _client(client) {}
@@ -116,13 +117,15 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
         return rclcpp_action::GoalResponse::REJECT;
       },
       [&](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>)
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>)
       {
         rejected_goal.set_value();
         return rclcpp_action::CancelResponse::REJECT;
       },
       [](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>
         handle)
       {
         handle->abort(
@@ -145,12 +148,14 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
         return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
       },
       [](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>)
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>)
       {
         return rclcpp_action::CancelResponse::REJECT;
       },
       [](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>
         handle)
       {
         handle->abort(
@@ -178,13 +183,15 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
         return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
       },
       [&](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>)
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>)
       {
         got_cancel.set_value();
         return rclcpp_action::CancelResponse::ACCEPT;
       },
       [&](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>
         handle)
       {
         started_job.set_value();
@@ -202,7 +209,7 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
     tick_until(bt, [&](auto)
       {
         return started_job_fut.wait_for(std::chrono::seconds(
-          0)) == std::future_status::ready;
+            0)) == std::future_status::ready;
       }, std::chrono::seconds(1));
     bt.haltTree();
     CHECK(got_cancel_fut.wait_for(std::chrono::seconds(0)) ==
@@ -225,12 +232,14 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
         return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
       },
       [&](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>)
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>)
       {
         return rclcpp_action::CancelResponse::REJECT;
       },
       [&](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>
         handle)
       {
         started_job.set_value();
@@ -247,7 +256,7 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
     tick_until(bt, [&](auto)
       {
         return started_job_fut.wait_for(std::chrono::seconds(
-          0)) == std::future_status::ready;
+            0)) == std::future_status::ready;
       }, std::chrono::seconds(1));
 
     // test action takes 1 second, halting the tree should cause it to block until
@@ -270,12 +279,14 @@ TEST_CASE("ActionClientBtNode", "[BehaviorTree]")
         return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
       },
       [](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>)
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>)
       {
         return rclcpp_action::CancelResponse::REJECT;
       },
       [](
-        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::action::Fibonacci>>
+        std::shared_ptr<rclcpp_action::ServerGoalHandle<example_interfaces::
+        action::Fibonacci>>
         handle)
       {
         handle->succeed(

diff --git a/nexus_common/src/models/work_order_test.cpp b/nexus_common/src/models/work_order_test.cpp
@@ -59,7 +59,8 @@ TEST_CASE("WorkOrder serialization", "[Model][Serialization]")
       }
   )RAW"};
 
-  auto check_data = [](const WorkOrder& work_order)
+  auto check_data =
+    [](const WorkOrder& work_order)
     {
       CHECK(work_order.number() == "SO/2022/20/1-1");
       CHECK(work_order.work_instruction_name() == "CV-299 (Rev 4)");

diff --git a/nexus_common/src/node_utils.cpp b/nexus_common/src/node_utils.cpp
@@ -102,7 +102,8 @@ get_node_options_default(bool allow_undeclared, bool declare_initial_params)
 {
   rclcpp::NodeOptions options;
   options.allow_undeclared_parameters(allow_undeclared);
-  options.automatically_declare_parameters_from_overrides(declare_initial_params);
+  options.automatically_declare_parameters_from_overrides(
+    declare_initial_params);
   return options;
 }
 

diff --git a/nexus_gazebo/include/nexus_gazebo/Components.hh b/nexus_gazebo/include/nexus_gazebo/Components.hh
@@ -25,7 +25,7 @@ namespace nexus_gazebo::components {
 using MotionCaptureRigidBody = gz::sim::components::Component<
   std::string,
   class MotionCaptureRigidBodyTag,
-    gz::sim::serializers::StringSerializer>;
+  gz::sim::serializers::StringSerializer>;
 
 GZ_SIM_REGISTER_COMPONENT(
   "nexus_gazebo.components.MotionCaptureRigidBody",

diff --git a/nexus_integration_tests/src/mock_transporter.cpp b/nexus_integration_tests/src/mock_transporter.cpp
@@ -269,8 +269,8 @@ class MockTransporter : public Transporter
 
           state.location.pose.position.x += x_increment;
           dist_traveled += abs(x_increment);
-          _transporters.at(
-            current_transporter)->current_location.pose = state.location.pose.position.x;
+          _transporters.at(current_transporter)->current_location.pose =
+          state.location.pose.position.x;
           feedback_cb(state);
         }
 

diff --git a/nexus_integration_tests/src/test_mock_gripper.cpp b/nexus_integration_tests/src/test_mock_gripper.cpp
@@ -65,8 +65,7 @@ SCENARIO("Test Gripper Mock")
   double end_position = 0.0;
 
   auto goal_response_callback =
-    [&goal_response](GoalHandleGripperAction::SharedPtr
-      goal_handle)
+    [&goal_response](GoalHandleGripperAction::SharedPtr goal_handle)
     {
       if (goal_handle)
       {