linter fixes

ros-controls · Dec 15, 2022 · d63e019 · d63e019
1 parent dde8a23
commit d63e019
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Showing 5 changed files with 34 additions and 24 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -485,15 +485,17 @@ controller_interface::return_type ControllerManager::configure_controller(
     resource_manager_->import_controller_reference_interfaces(controller_name, interfaces);
   }
 
-  std::vector<ControllerSpec> & unused_controller_list = rt_controllers_wrapper_.get_unused_list(guard);
+  std::vector<ControllerSpec> & unused_controller_list =
+    rt_controllers_wrapper_.get_unused_list(guard);
   unused_controller_list = controllers;
 
   std::unordered_map<std::string, int> preceeding_controller_count = {};
   std::unordered_map<std::string, std::vector<std::string>> following_controllers = {};
 
   for (const auto & controller1 : unused_controller_list)
   {
-    if (!controller1.c->is_chainable() || (!is_controller_active(controller1.c) && !is_controller_inactive(controller1.c)) )
+    if (!controller1.c->is_chainable() || (
+        !is_controller_active(controller1.c) && !is_controller_inactive(controller1.c)) )
     {
       continue;
     }
@@ -505,17 +507,18 @@ controller_interface::return_type ControllerManager::configure_controller(
       }
       if (controller2.info.name == controller1.info.name)
       {
-        continue; 
+        continue;
       }
-      for (const auto & reference1 : resource_manager_->get_controller_reference_interface_names(controller1.info.name))
+      for (const auto & reference1 :
+          resource_manager_->get_controller_reference_interface_names(controller1.info.name))
       {
         const auto controller2_commands = controller2.c->command_interface_configuration().names;
-        
+
         std::string commands_string = "";
         for (auto command : controller2_commands){
           commands_string += " " + command;
         }
-        auto same = std::find(controller2_commands.begin(), controller2_commands.end(), reference1); 
+        auto same = std::find(controller2_commands.begin(), controller2_commands.end(), reference1);
         if (same != controller2_commands.end())
         {
           // controller 2 preceeds controller1
@@ -525,9 +528,12 @@ controller_interface::return_type ControllerManager::configure_controller(
           }
           else
           {
-            following_controllers.emplace(controller2.info.name, std::initializer_list<std::string>{controller1.info.name});
+            following_controllers.emplace(
+              controller2.info.name,
+              std::initializer_list<std::string>{controller1.info.name});
           }
-          if (preceeding_controller_count.find(controller1.info.name) != preceeding_controller_count.end()){
+          if (preceeding_controller_count.find(controller1.info.name) !=
+              preceeding_controller_count.end()){
             preceeding_controller_count[controller1.info.name] += 1;
           }
           else

diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
@@ -105,7 +105,7 @@ TEST_P(TestControllerManager, controller_lifecycle)
 
   // configure controller
   auto configure_future = std::async(
-      std::launch::async, &controller_manager::ControllerManager::configure_controller, 
+      std::launch::async, &controller_manager::ControllerManager::configure_controller,
       cm_, test_controller::TEST_CONTROLLER_NAME);
   configure_future.wait_for(std::chrono::milliseconds(100));
   EXPECT_EQ(
@@ -114,7 +114,7 @@ TEST_P(TestControllerManager, controller_lifecycle)
   EXPECT_EQ(configure_future.get(), controller_interface::return_type::OK);
 
   configure_future = std::async(
-      std::launch::async, &controller_manager::ControllerManager::configure_controller, 
+      std::launch::async, &controller_manager::ControllerManager::configure_controller,
       cm_, TEST_CONTROLLER2_NAME);
   configure_future.wait_for(std::chrono::milliseconds(100));
   EXPECT_EQ(
@@ -229,10 +229,10 @@ TEST_P(TestControllerManager, per_controller_update_rate)
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_controller->get_state().id());
 
   test_controller->get_node()->set_parameter({"update_rate", 4});
-  
+
   // configure controller
   auto configure_future = std::async(
-      std::launch::async, &controller_manager::ControllerManager::configure_controller, 
+      std::launch::async, &controller_manager::ControllerManager::configure_controller,
       cm_, test_controller::TEST_CONTROLLER_NAME);
   configure_future.wait_for(std::chrono::milliseconds(100));
   EXPECT_EQ(

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -263,7 +263,7 @@ TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
   ASSERT_EQ(2u, result->controller.size());
   // check chainable controller
 
-  // cm_->configure_controller() sorts the controllers 
+  // cm_->configure_controller() sorts the controllers
   // test controller now preceeds chainable controller
   ASSERT_EQ(result->controller[1].name, "test_chainable_controller_name");
   ASSERT_EQ(result->controller[1].type, "controller_manager/test_chainable_controller");

diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -55,7 +55,6 @@ class TestableTestChainableController : public test_chainable_controller::TestCh
   FRIEND_TEST(
     TestControllerChainingWithControllerManager,
     test_chained_controllers_random_order);
-
 };
 
 class TestableControllerManager : public controller_manager::ControllerManager
@@ -1005,8 +1004,6 @@ TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_ran
   cm_->add_controller(
     position_tracking_controller, POSITION_TRACKING_CONTROLLER,
     test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
-
-
 
   CheckIfControllersAreAddedCorrectly();
 

diff --git a/controller_manager/test/test_load_controller.cpp b/controller_manager/test/test_load_controller.cpp
@@ -162,16 +162,18 @@ TEST_P(TestLoadedControllerParametrized, starting_and_stopping_a_controller)
       lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id());
 
     // Activate configured controller
-    auto configure_future = std::async(
-      std::launch::async, &controller_manager::ControllerManager::configure_controller, cm_, controller_name1);
+    auto configure_future = std::async(std::launch::async,
+                                      &controller_manager::ControllerManager::configure_controller,
+                                      cm_,
+                                      controller_name1);
     configure_future.wait_for(std::chrono::milliseconds(100));
-    
+
     EXPECT_EQ(
       controller_interface::return_type::OK,
       cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
     configure_future.get();
     start_test_controller(test_param.strictness);
-    
+
     ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id());
   }
 
@@ -255,10 +257,12 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_configure
   // Configure from inactive state
   test_controller->simulate_cleanup_failure = false;
 
-  auto configure_future = std::async(
-      std::launch::async, &controller_manager::ControllerManager::configure_controller, cm_, controller_name1);
+  auto configure_future = std::async(std::launch::async,
+                                    &controller_manager::ControllerManager::configure_controller,
+                                    cm_,
+                                    controller_name1);
   configure_future.wait_for(std::chrono::milliseconds(100));
-   
+
   EXPECT_EQ(
     controller_interface::return_type::OK,
     cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
@@ -439,7 +443,10 @@ TEST_P(TestTwoLoadedControllers, switch_multiple_controllers)
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if2->get_state().id());
 
   auto configure_future = std::async(
-      std::launch::async, &controller_manager::ControllerManager::configure_controller, cm_, controller_name2);
+      std::launch::async,
+      &controller_manager::ControllerManager::configure_controller,
+      cm_,
+      controller_name2);
   configure_future.wait_for(std::chrono::milliseconds(1000));
   EXPECT_EQ(
     controller_interface::return_type::OK,