From d7d57ed3287ac0f9a79790e491b56e4b8e9777ef Mon Sep 17 00:00:00 2001
From: Bence Magyar <bence.magyar.robotics@gmail.com>
Date: Mon, 11 Dec 2023 18:18:53 +0000
Subject: [PATCH] Reformat with braces added (#1209)

(cherry picked from commit 562f36ddb615a70b54c71365393a8dc69508f52f)

# Conflicts:
#	controller_manager/src/controller_manager.cpp
---
 controller_manager/src/controller_manager.cpp | 31 +++++++++++++++++--
 .../test/test_controller_manager_srvs.cpp     |  9 +++++-
 2 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 62db7f8242..8904282a8d 100644
--- 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)
     {
@@ -2455,7 +2460,10 @@ bool ControllerManager::controller_sorting(
   if (!((is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) &&
         (is_controller_active(ctrl_b.c) || is_controller_inactive(ctrl_b.c))))
   {
-    if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) return true;
+    if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c))
+    {
+      return true;
+    }
     return false;
   }
 
@@ -2467,9 +2475,13 @@ bool ControllerManager::controller_sorting(
     // joint_state_broadcaster
     // If the controller b is also under the same condition, then maintain their initial order
     if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
+    {
       return false;
+    }
     else
+    {
       return true;
+    }
   }
   else if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
   {
@@ -2479,12 +2491,17 @@ 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) !=
       following_ctrls.end())
+    {
       return true;
+    }
     else
     {
       auto ctrl_a_preceding_ctrls = get_preceding_controller_names(ctrl_a.info.name, controllers);
@@ -2517,8 +2534,16 @@ 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);
+<<<<<<< HEAD
       if (following_ctrls_b.empty()) return true;
       auto find_first_element = [&](const auto & controllers_list)
+=======
+      if (following_ctrls_b.empty())
+      {
+        return true;
+      }
+      auto find_first_element = [&](const auto & controllers_list) -> size_t
+>>>>>>> 562f36d (Reformat with braces added (#1209))
       {
         auto it = std::find_if(
           controllers.begin(), controllers.end(),
diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
index 2a78b178cf..7c5c592073 100644
--- a/controller_manager/test/test_controller_manager_srvs.cpp
+++ b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -598,7 +598,9 @@ 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);
@@ -755,7 +757,9 @@ 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);
@@ -969,7 +973,10 @@ 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);