Merge branch 'master' into patch-1

ros-controls · Dec 11, 2023 · 2e0079b · 2e0079b
2 parents 059f8fd + 562f36d
commit 2e0079b
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Showing 2 changed files with 22 additions and 4 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -150,7 +150,9 @@ std::vector<std::string> get_following_controller_names(
   }
   // If the controller is not configured, return empty
   if (!(is_controller_active(controller_it->c) || is_controller_inactive(controller_it->c)))
+  {
     return following_controllers;
+  }
   const auto cmd_itfs = controller_it->c->command_interface_configuration().names;
   for (const auto & itf : cmd_itfs)
   {
@@ -210,7 +212,10 @@ std::vector<std::string> get_preceding_controller_names(
   for (const auto & ctrl : controllers)
   {
     // If the controller is not configured, then continue
-    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c))) continue;
+    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c)))
+    {
+      continue;
+    }
     auto cmd_itfs = ctrl.c->command_interface_configuration().names;
     for (const auto & itf : cmd_itfs)
     {
@@ -2469,7 +2474,10 @@ bool ControllerManager::controller_sorting(
   else
   {
     auto following_ctrls = get_following_controller_names(ctrl_a.info.name, controllers);
-    if (following_ctrls.empty()) return false;
+    if (following_ctrls.empty())
+    {
+      return false;
+    }
     // If the ctrl_b is any of the following controllers of ctrl_a, then place ctrl_a before ctrl_b
     if (
       std::find(following_ctrls.begin(), following_ctrls.end(), ctrl_b.info.name) !=
@@ -2509,7 +2517,10 @@ bool ControllerManager::controller_sorting(
 
       // If there is no common parent, then they belong to 2 different sets
       auto following_ctrls_b = get_following_controller_names(ctrl_b.info.name, controllers);
-      if (following_ctrls_b.empty()) return true;
+      if (following_ctrls_b.empty())
+      {
+        return true;
+      }
       auto find_first_element = [&](const auto & controllers_list) -> size_t
       {
         auto it = std::find_if(

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -639,7 +639,9 @@ TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
        {TEST_CHAINED_CONTROLLER_4, TEST_CHAINED_CONTROLLER_3, TEST_CHAINED_CONTROLLER_5,
         TEST_CHAINED_CONTROLLER_2, TEST_CHAINED_CONTROLLER_1,
         test_controller::TEST_CONTROLLER_NAME})
+  {
     cm_->configure_controller(controller);
+  }
 
   // get controller list after configure
   result = call_service_and_wait(*client, request, srv_executor);
@@ -796,7 +798,9 @@ TEST_F(TestControllerManagerSrvs, list_sorted_complex_chained_controllers)
        {TEST_CHAINED_CONTROLLER_4, TEST_CHAINED_CONTROLLER_3, TEST_CHAINED_CONTROLLER_5,
         TEST_CHAINED_CONTROLLER_7, TEST_CHAINED_CONTROLLER_2, TEST_CHAINED_CONTROLLER_1,
         TEST_CHAINED_CONTROLLER_6, test_controller::TEST_CONTROLLER_NAME})
+  {
     cm_->configure_controller(controller);
+  }
 
   // get controller list after configure
   result = call_service_and_wait(*client, request, srv_executor);
@@ -1010,7 +1014,10 @@ TEST_F(TestControllerManagerSrvs, list_sorted_independent_chained_controllers)
                       TEST_CHAINED_CONTROLLER_4, TEST_CONTROLLER_2,
                       TEST_CHAINED_CONTROLLER_2, TEST_CHAINED_CONTROLLER_6,
                       TEST_CHAINED_CONTROLLER_7, TEST_CHAINED_CONTROLLER_8};
-  for (const auto & controller : ctrls_order) cm_->configure_controller(controller);
+  for (const auto & controller : ctrls_order)
+  {
+    cm_->configure_controller(controller);
+  }
 
   // get controller list after configure
   result = call_service_and_wait(*client, request, srv_executor);