pre-commit fix

ros-industrial · Aug 17, 2024 · 8671938 · 8671938
1 parent 5041853
commit 8671938
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Showing 3 changed files with 12 additions and 7 deletions.
diff --git a/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver.hpp b/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver.hpp
@@ -161,7 +161,7 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
    *
    * Calls Motor402::enterModeAndWait with requested Operation Mode.
    *
-   * @param [in] request Requested Operation Mode as MotorBase::Profiled_Position or 
+   * @param [in] request Requested Operation Mode as MotorBase::Profiled_Position or
    * MotorBase::Profiled_Velocity or MotorBase::Profiled_Torque or MotorBase::Cyclic_Position or
    * MotorBase::Cyclic_Velocity or MotorBase::Cyclic_Torque or MotorBase::Interpolated_Position
    * @param [out] response

diff --git a/...en_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp b/...en_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp
@@ -509,7 +509,7 @@ bool NodeCanopen402Driver<NODETYPE>::set_operation_mode(uint16_t mode)
 {
   if (this->activated_.load())
   {
-    if(motor_->getMode() != mode)
+    if (motor_->getMode() != mode)
     {
       return motor_->enterModeAndWait(mode);
     }

diff --git a/canopen_ros2_control/src/cia402_system.cpp b/canopen_ros2_control/src/cia402_system.cpp
@@ -330,27 +330,32 @@ void Cia402System::switchModes(uint id, const std::shared_ptr<ros2_canopen::Cia4
 {
   if (motor_data_[id].position_mode.is_commanded())
   {
-    motor_data_[id].position_mode.set_response(driver->set_operation_mode(MotorBase::Profiled_Position));
+    motor_data_[id].position_mode.set_response(
+      driver->set_operation_mode(MotorBase::Profiled_Position));
   }
 
   if (motor_data_[id].cyclic_position_mode.is_commanded())
   {
-    motor_data_[id].cyclic_position_mode.set_response(driver->set_operation_mode(MotorBase::Cyclic_Synchronous_Position));
+    motor_data_[id].cyclic_position_mode.set_response(
+      driver->set_operation_mode(MotorBase::Cyclic_Synchronous_Position));
   }
 
   if (motor_data_[id].velocity_mode.is_commanded())
   {
-    motor_data_[id].velocity_mode.set_response(driver->set_operation_mode(MotorBase::Profiled_Velocity));
+    motor_data_[id].velocity_mode.set_response(
+      driver->set_operation_mode(MotorBase::Profiled_Velocity));
   }
 
   if (motor_data_[id].cyclic_velocity_mode.is_commanded())
   {
-    motor_data_[id].cyclic_velocity_mode.set_response(driver->set_operation_mode(MotorBase::Cyclic_Synchronous_Velocity));
+    motor_data_[id].cyclic_velocity_mode.set_response(
+      driver->set_operation_mode(MotorBase::Cyclic_Synchronous_Velocity));
   }
 
   if (motor_data_[id].torque_mode.is_commanded())
   {
-    motor_data_[id].torque_mode.set_response(driver->set_operation_mode(MotorBase::Profiled_Torque));
+    motor_data_[id].torque_mode.set_response(
+      driver->set_operation_mode(MotorBase::Profiled_Torque));
   }
 
   if (motor_data_[id].interpolated_position_mode.is_commanded())