Update to clang format 12 (#731)

* Update to clang-format-12 * Re-run clang-format * adjust joint limits file too
ros-controls · Jun 8, 2022 · 6f5ee7c · 6f5ee7c
1 parent 8fd48f7
commit 6f5ee7c
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Showing 15 changed files with 162 additions and 130 deletions.
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -17,7 +17,7 @@ jobs:
       with:
         python-version: 3.9.7
     - name: Install system hooks
-      run: sudo apt install -qq clang-format-11 cppcheck
+      run: sudo apt install -qq clang-format-12 cppcheck
     - uses: pre-commit/[email protected]
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -60,7 +60,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-12
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

diff --git a/controller_interface/include/semantic_components/force_torque_sensor.hpp b/controller_interface/include/semantic_components/force_torque_sensor.hpp
@@ -62,7 +62,8 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     const std::string & interface_torque_y, const std::string & interface_torque_z)
   : SemanticComponentInterface("", 6)
   {
-    auto check_and_add_interface = [this](const std::string & interface_name, const int index) {
+    auto check_and_add_interface = [this](const std::string & interface_name, const int index)
+    {
       if (!interface_name.empty())
       {
         interface_names_.emplace_back(interface_name);

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -464,7 +464,8 @@ controller_interface::return_type ControllerManager::switch_controller(
   const auto list_controllers = [this, strictness](
                                   const std::vector<std::string> & controller_list,
                                   std::vector<std::string> & request_list,
-                                  const std::string & action) {
+                                  const std::string & action)
+  {
     // lock controllers
     std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
 
@@ -524,9 +525,9 @@ controller_interface::return_type ControllerManager::switch_controller(
     return ret;
   }
 
-  const auto list_interfaces = [this](
-                                 const ControllerSpec controller,
-                                 std::vector<std::string> & request_interface_list) {
+  const auto list_interfaces =
+    [this](const ControllerSpec controller, std::vector<std::string> & request_interface_list)
+  {
     auto command_interface_config = controller.c->command_interface_configuration();
     std::vector<std::string> command_interface_names = {};
     if (command_interface_config.type == controller_interface::interface_configuration_type::ALL)
@@ -560,7 +561,8 @@ controller_interface::return_type ControllerManager::switch_controller(
     const bool is_active = is_controller_active(*controller.c);
     const bool is_inactive = is_controller_inactive(*controller.c);
 
-    auto handle_conflict = [&](const std::string & msg) {
+    auto handle_conflict = [&](const std::string & msg)
+    {
       if (strictness == controller_manager_msgs::srv::SwitchController::Request::STRICT)
       {
         RCLCPP_ERROR(get_logger(), "%s", msg.c_str());

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -37,31 +37,34 @@ int main(int argc, char ** argv)
   // the executor (see issue #260).
   // When the MutliThreadedExecutor issues are fixed (ros2/rclcpp#1168), this loop should be
   // converted back to a timer.
-  std::thread cm_thread([cm]() {
-    RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
+  std::thread cm_thread(
+    [cm]()
+    {
+      RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
 
-    rclcpp::Time current_time = cm->now();
-    rclcpp::Time previous_time = current_time;
-    rclcpp::Time end_period = current_time;
+      rclcpp::Time current_time = cm->now();
+      rclcpp::Time previous_time = current_time;
+      rclcpp::Time end_period = current_time;
 
-    // Use nanoseconds to avoid chrono's rounding
-    rclcpp::Duration period(std::chrono::nanoseconds(1000000000 / cm->get_update_rate()));
+      // Use nanoseconds to avoid chrono's rounding
+      rclcpp::Duration period(std::chrono::nanoseconds(1000000000 / cm->get_update_rate()));
 
-    while (rclcpp::ok())
-    {
-      // wait until we hit the end of the period
-      end_period += period;
-      std::this_thread::sleep_for(std::chrono::nanoseconds((end_period - cm->now()).nanoseconds()));
+      while (rclcpp::ok())
+      {
+        // wait until we hit the end of the period
+        end_period += period;
+        std::this_thread::sleep_for(
+          std::chrono::nanoseconds((end_period - cm->now()).nanoseconds()));
 
-      // execute update loop
-      auto period = current_time - previous_time;
-      cm->read(current_time, period);
-      current_time = cm->now();
-      cm->update(current_time, period);
-      previous_time = current_time;
-      cm->write(current_time, period);
-    }
-  });
+        // execute update loop
+        auto period = current_time - previous_time;
+        cm->read(current_time, period);
+        current_time = cm->now();
+        cm->update(current_time, period);
+        previous_time = current_time;
+        cm->write(current_time, period);
+      }
+    });
 
   executor->add_node(cm);
   executor->spin();

diff --git a/controller_manager/test/controller_manager_test_common.hpp b/controller_manager/test/controller_manager_test_common.hpp
@@ -79,13 +79,15 @@ class ControllerManagerFixture : public ::testing::Test
   void startCmUpdater()
   {
     run_updater_ = true;
-    updater_ = std::thread([&](void) -> void {
-      while (run_updater_)
+    updater_ = std::thread(
+      [&](void) -> void
       {
-        cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-      }
-    });
+        while (run_updater_)
+        {
+          cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+          std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+      });
   }
 
   void stopCmUpdater()
@@ -135,11 +137,14 @@ class TestControllerManagerSrvs
 
   void SetUpSrvsCMExecutor()
   {
-    update_timer_ = cm_->create_wall_timer(std::chrono::milliseconds(10), [&]() {
-      cm_->read(TIME, PERIOD);
-      cm_->update(TIME, PERIOD);
-      cm_->write(TIME, PERIOD);
-    });
+    update_timer_ = cm_->create_wall_timer(
+      std::chrono::milliseconds(10),
+      [&]()
+      {
+        cm_->read(TIME, PERIOD);
+        cm_->update(TIME, PERIOD);
+        cm_->write(TIME, PERIOD);
+      });
 
     executor_->add_node(cm_);
 

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -120,15 +120,16 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
       [](
         const std::vector<controller_manager_msgs::msg::HardwareInterface> & interfaces,
         const std::vector<const char *> & interface_names,
-        const std::vector<bool> is_available_status, const std::vector<bool> is_claimed_status) {
-        for (auto i = 0ul; i < interfaces.size(); ++i)
-        {
-          auto it = std::find(interface_names.begin(), interface_names.end(), interfaces[i].name);
-          EXPECT_NE(it, interface_names.end());
-          EXPECT_EQ(interfaces[i].is_available, is_available_status[i]);
-          EXPECT_EQ(interfaces[i].is_claimed, is_claimed_status[i]);
-        }
-      };
+        const std::vector<bool> is_available_status, const std::vector<bool> is_claimed_status)
+    {
+      for (auto i = 0ul; i < interfaces.size(); ++i)
+      {
+        auto it = std::find(interface_names.begin(), interface_names.end(), interfaces[i].name);
+        EXPECT_NE(it, interface_names.end());
+        EXPECT_EQ(interfaces[i].is_available, is_available_status[i]);
+        EXPECT_EQ(interfaces[i].is_claimed, is_claimed_status[i]);
+      }
+    };
 
     for (const auto & component : result->component)
     {

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -35,11 +35,14 @@ class TestLoadController : public ControllerManagerFixture<controller_manager::C
   {
     ControllerManagerFixture::SetUp();
 
-    update_timer_ = cm_->create_wall_timer(std::chrono::milliseconds(10), [&]() {
-      cm_->read(TIME, PERIOD);
-      cm_->update(TIME, PERIOD);
-      cm_->write(TIME, PERIOD);
-    });
+    update_timer_ = cm_->create_wall_timer(
+      std::chrono::milliseconds(10),
+      [&]()
+      {
+        cm_->read(TIME, PERIOD);
+        cm_->update(TIME, PERIOD);
+        cm_->write(TIME, PERIOD);
+      });
 
     update_executor_ =
       std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::ExecutorOptions(), 2);

diff --git a/hardware_interface/src/fake_components/generic_system.cpp b/hardware_interface/src/fake_components/generic_system.cpp
@@ -36,8 +36,9 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
     return CallbackReturn::ERROR;
   }
 
-  auto populate_non_standard_interfaces = [this](
-                                            auto interface_list, auto & non_standard_interfaces) {
+  auto populate_non_standard_interfaces =
+    [this](auto interface_list, auto & non_standard_interfaces)
+  {
     for (const auto & interface : interface_list)
     {
       // add to list if non-standard interface
@@ -120,9 +121,8 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
       const auto mimicked_joint_it = std::find_if(
         info_.joints.begin(), info_.joints.end(),
         [&mimicked_joint =
-           joint.parameters.at("mimic")](const hardware_interface::ComponentInfo & joint_info) {
-          return joint_info.name == mimicked_joint;
-        });
+           joint.parameters.at("mimic")](const hardware_interface::ComponentInfo & joint_info)
+        { return joint_info.name == mimicked_joint; });
       if (mimicked_joint_it == info_.joints.cend())
       {
         throw std::runtime_error(
@@ -320,7 +320,8 @@ std::vector<hardware_interface::CommandInterface> GenericSystem::export_command_
 
 return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
-  auto mirror_command_to_state = [](auto & states_, auto commands_, size_t start_index = 0) {
+  auto mirror_command_to_state = [](auto & states_, auto commands_, size_t start_index = 0)
+  {
     for (size_t i = start_index; i < states_.size(); ++i)
     {
       for (size_t j = 0; j < states_[i].size(); ++j)

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -40,28 +40,29 @@ namespace hardware_interface
 auto trigger_and_print_hardware_state_transition =
   [](
     auto transition, const std::string transition_name, const std::string & hardware_name,
-    const lifecycle_msgs::msg::State::_id_type & target_state) {
-    RCUTILS_LOG_INFO_NAMED(
-      "resource_manager", "'%s' hardware '%s' ", transition_name.c_str(), hardware_name.c_str());
+    const lifecycle_msgs::msg::State::_id_type & target_state)
+{
+  RCUTILS_LOG_INFO_NAMED(
+    "resource_manager", "'%s' hardware '%s' ", transition_name.c_str(), hardware_name.c_str());
 
-    const rclcpp_lifecycle::State new_state = transition();
+  const rclcpp_lifecycle::State new_state = transition();
 
-    bool result = new_state.id() == target_state;
+  bool result = new_state.id() == target_state;
 
-    if (result)
-    {
-      RCUTILS_LOG_INFO_NAMED(
-        "resource_manager", "Successful '%s' of hardware '%s'", transition_name.c_str(),
-        hardware_name.c_str());
-    }
-    else
-    {
-      RCUTILS_LOG_INFO_NAMED(
-        "resource_manager", "Failed to '%s' hardware '%s'", transition_name.c_str(),
-        hardware_name.c_str());
-    }
-    return result;
-  };
+  if (result)
+  {
+    RCUTILS_LOG_INFO_NAMED(
+      "resource_manager", "Successful '%s' of hardware '%s'", transition_name.c_str(),
+      hardware_name.c_str());
+  }
+  else
+  {
+    RCUTILS_LOG_INFO_NAMED(
+      "resource_manager", "Failed to '%s' hardware '%s'", transition_name.c_str(),
+      hardware_name.c_str());
+  }
+  return result;
+};
 
 class ResourceStorage
 {
@@ -843,7 +844,8 @@ bool ResourceManager::prepare_command_mode_switch(
   const std::vector<std::string> & start_interfaces,
   const std::vector<std::string> & stop_interfaces)
 {
-  auto interfaces_to_string = [&]() {
+  auto interfaces_to_string = [&]()
+  {
     std::stringstream ss;
     ss << "Start interfaces: " << std::endl << "[" << std::endl;
     for (const auto & start_if : start_interfaces)
@@ -953,7 +955,8 @@ return_type ResourceManager::set_component_state(
     }
   }
 
-  auto find_set_component_state = [&](auto action, auto & components) {
+  auto find_set_component_state = [&](auto action, auto & components)
+  {
     auto found_component_it = std::find_if(
       components.begin(), components.end(),
       [&](const auto & component) { return component.get_name() == component_name; });

diff --git a/hardware_interface/test/fake_components/test_generic_system.cpp b/hardware_interface/test/fake_components/test_generic_system.cpp
@@ -421,28 +421,30 @@ void set_components_state(
 
 auto configure_components = [](
                               hardware_interface::ResourceManager & rm,
-                              const std::vector<std::string> & components = {"GenericSystem2dof"}) {
+                              const std::vector<std::string> & components = {"GenericSystem2dof"})
+{
   set_components_state(
     rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
     hardware_interface::lifecycle_state_names::INACTIVE);
 };
 
 auto activate_components = [](
                              hardware_interface::ResourceManager & rm,
-                             const std::vector<std::string> & components = {"GenericSystem2dof"}) {
+                             const std::vector<std::string> & components = {"GenericSystem2dof"})
+{
   set_components_state(
     rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
     hardware_interface::lifecycle_state_names::ACTIVE);
 };
 
-auto deactivate_components =
-  [](
-    hardware_interface::ResourceManager & rm,
-    const std::vector<std::string> & components = {"GenericSystem2dof"}) {
-    set_components_state(
-      rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
-      hardware_interface::lifecycle_state_names::INACTIVE);
-  };
+auto deactivate_components = [](
+                               hardware_interface::ResourceManager & rm,
+                               const std::vector<std::string> & components = {"GenericSystem2dof"})
+{
+  set_components_state(
+    rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
+    hardware_interface::lifecycle_state_names::INACTIVE);
+};
 
 TEST_F(TestGenericSystem, load_generic_system_2dof)
 {

diff --git a/hardware_interface/test/test_hardware_components/test_force_torque_sensor.cpp b/hardware_interface/test/test_hardware_components/test_force_torque_sensor.cpp
@@ -43,9 +43,9 @@ class TestForceTorqueSensor : public SensorInterface
     {
       if (
         std::find_if(
-          state_interfaces.begin(), state_interfaces.end(), [&ft_key](const auto & interface_info) {
-            return interface_info.name == ft_key;
-          }) == state_interfaces.end())
+          state_interfaces.begin(), state_interfaces.end(),
+          [&ft_key](const auto & interface_info)
+          { return interface_info.name == ft_key; }) == state_interfaces.end())
       {
         return CallbackReturn::ERROR;
       }