style(pre-commit): autofix

tier4 · Jun 4, 2024 · 67add86 · 67add86
1 parent 1a908ba
commit 67add86
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Showing 6 changed files with 28 additions and 40 deletions.
diff --git a/pacmod_interface/README.md b/pacmod_interface/README.md
@@ -8,15 +8,15 @@
 
 - From Autoware
 
-  | Name                                   | Type                                                     | Description                                           |
-  | -------------------------------------- | -------------------------------------------------------- | ----------------------------------------------------- |
-  | `/control/command/control_cmd`         | autoware_control_msgs::msg::Control                      | lateral and longitudinal control command              |
-  | `/control/command/gear_cmd`            | autoware_vehicle_msgs::msg::GearCommand             | gear command                                          |
-  | `/control/command/turn_indicators_cmd` | autoware_vehicle_msgs::msg::TurnIndicatorsCommand   | turn indicators command                               |
-  | `/control/command/hazard_lights_cmd`   | autoware_vehicle_msgs::msg::HazardLightsCommand     | hazard lights command                                 |
-  | `/vehicle/engage`                      | autoware_vehicle_msgs::msg::Engage                  | engage command                                        |
-  | `/vehicle/command/actuation_cmd`       | tier4_vehicle_msgs::msg::ActuationCommandStamped         | actuation (accel/brake pedal, steering wheel) command |
-  | `/control/command/emergency_cmd`       | tier4_vehicle_msgs::msg::VehicleEmergencyStamped         | emergency command                                     |
+  | Name                                   | Type                                              | Description                                           |
+  | -------------------------------------- | ------------------------------------------------- | ----------------------------------------------------- |
+  | `/control/command/control_cmd`         | autoware_control_msgs::msg::Control               | lateral and longitudinal control command              |
+  | `/control/command/gear_cmd`            | autoware_vehicle_msgs::msg::GearCommand           | gear command                                          |
+  | `/control/command/turn_indicators_cmd` | autoware_vehicle_msgs::msg::TurnIndicatorsCommand | turn indicators command                               |
+  | `/control/command/hazard_lights_cmd`   | autoware_vehicle_msgs::msg::HazardLightsCommand   | hazard lights command                                 |
+  | `/vehicle/engage`                      | autoware_vehicle_msgs::msg::Engage                | engage command                                        |
+  | `/vehicle/command/actuation_cmd`       | tier4_vehicle_msgs::msg::ActuationCommandStamped  | actuation (accel/brake pedal, steering wheel) command |
+  | `/control/command/emergency_cmd`       | tier4_vehicle_msgs::msg::VehicleEmergencyStamped  | emergency command                                     |
 
 - From Pacmod
 
@@ -45,8 +45,8 @@
 
 - To Autoware
 
-  | Name                                     | Type                                                    | Description                                          |
-  | ---------------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- |
+  | Name                                     | Type                                               | Description                                          |
+  | ---------------------------------------- | -------------------------------------------------- | ---------------------------------------------------- |
   | `/vehicle/status/control_mode`           | autoware_vehicle_msgs::msg::ControlModeReport      | control mode                                         |
   | `/vehicle/status/velocity_status`        | autoware_vehicle_msgs::msg::VelocityReport         | velocity                                             |
   | `/vehicle/status/steering_status`        | autoware_vehicle_msgs::msg::SteeringReport         | steering wheel angle                                 |

diff --git a/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp b/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
@@ -64,8 +64,7 @@ class PacmodInterface : public rclcpp::Node
 private:
   /* subscribers */
   // From Autoware
-  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr
-    control_cmd_sub_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr control_cmd_sub_;
   rclcpp::Subscription<autoware_vehicle_msgs::msg::GearCommand>::SharedPtr gear_cmd_sub_;
   rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>::SharedPtr
     turn_indicators_cmd_sub_;
@@ -97,11 +96,9 @@ class PacmodInterface : public rclcpp::Node
     raw_steer_cmd_pub_;  // only for debug
 
   // To Autoware
-  rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    control_mode_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr control_mode_pub_;
   rclcpp::Publisher<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
-  rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr
-    steering_status_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_status_pub_;
   rclcpp::Publisher<autoware_vehicle_msgs::msg::GearReport>::SharedPtr gear_status_pub_;
   rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_indicators_status_pub_;
@@ -188,8 +185,7 @@ class PacmodInterface : public rclcpp::Node
 
   /* callbacks */
   void callbackActuationCmd(const ActuationCommandStamped::ConstSharedPtr msg);
-  void callbackControlCmd(
-    const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
+  void callbackControlCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
 
   void callbackEmergencyCmd(
     const tier4_vehicle_msgs::msg::VehicleEmergencyStamped::ConstSharedPtr msg);

diff --git a/pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp b/pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp
@@ -79,11 +79,9 @@ class PacmodSteerTest : public rclcpp::Node
   rclcpp::Publisher<pacmod3_msgs::msg::SystemCmdInt>::SharedPtr turn_cmd_pub_;
 
   // output vehicle info
-  rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    control_mode_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr control_mode_pub_;
   rclcpp::Publisher<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
-  rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr
-    steering_status_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_status_pub_;
   rclcpp::Publisher<autoware_vehicle_msgs::msg::GearReport>::SharedPtr shift_status_pub_;
   rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_signal_status_pub_;

diff --git a/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp b/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp
@@ -119,8 +119,7 @@ void PacmodDiagPublisher::callbackAccel(const AccelWithCovarianceStamped::ConstS
   addValueToQue(acc_que_, accel->accel.accel.linear.x, accel->header.stamp, accel_store_time_);
 }
 
-void PacmodDiagPublisher::callbackControlCmd(
-  const Control::ConstSharedPtr control_cmd)
+void PacmodDiagPublisher::callbackControlCmd(const Control::ConstSharedPtr control_cmd)
 {
   addValueToQue(
     acc_cmd_que_, control_cmd->longitudinal.acceleration, control_cmd->stamp, accel_store_time_);

diff --git a/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp b/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
@@ -74,14 +74,12 @@ PacmodInterface::PacmodInterface()
     "/control/command/control_cmd", 1, std::bind(&PacmodInterface::callbackControlCmd, this, _1));
   gear_cmd_sub_ = create_subscription<autoware_vehicle_msgs::msg::GearCommand>(
     "/control/command/gear_cmd", 1, std::bind(&PacmodInterface::callbackGearCmd, this, _1));
-  turn_indicators_cmd_sub_ =
-    create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>(
-      "/control/command/turn_indicators_cmd", rclcpp::QoS{1},
-      std::bind(&PacmodInterface::callbackTurnIndicatorsCommand, this, _1));
-  hazard_lights_cmd_sub_ =
-    create_subscription<autoware_vehicle_msgs::msg::HazardLightsCommand>(
-      "/control/command/hazard_lights_cmd", rclcpp::QoS{1},
-      std::bind(&PacmodInterface::callbackHazardLightsCommand, this, _1));
+  turn_indicators_cmd_sub_ = create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>(
+    "/control/command/turn_indicators_cmd", rclcpp::QoS{1},
+    std::bind(&PacmodInterface::callbackTurnIndicatorsCommand, this, _1));
+  hazard_lights_cmd_sub_ = create_subscription<autoware_vehicle_msgs::msg::HazardLightsCommand>(
+    "/control/command/hazard_lights_cmd", rclcpp::QoS{1},
+    std::bind(&PacmodInterface::callbackHazardLightsCommand, this, _1));
 
   actuation_cmd_sub_ = create_subscription<ActuationCommandStamped>(
     "/control/command/actuation_cmd", 1,
@@ -137,9 +135,8 @@ PacmodInterface::PacmodInterface()
     "/vehicle/status/steering_status", rclcpp::QoS{1});
   gear_status_pub_ = create_publisher<autoware_vehicle_msgs::msg::GearReport>(
     "/vehicle/status/gear_status", rclcpp::QoS{1});
-  turn_indicators_status_pub_ =
-    create_publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
-      "/vehicle/status/turn_indicators_status", rclcpp::QoS{1});
+  turn_indicators_status_pub_ = create_publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
+    "/vehicle/status/turn_indicators_status", rclcpp::QoS{1});
   hazard_lights_status_pub_ = create_publisher<autoware_vehicle_msgs::msg::HazardLightsReport>(
     "/vehicle/status/hazard_lights_status", rclcpp::QoS{1});
   actuation_status_pub_ =
@@ -601,8 +598,7 @@ double PacmodInterface::calculateVariableGearRatio(const double vel, const doubl
     1e-5, vgr_coef_a_ + vgr_coef_b_ * vel * vel - vgr_coef_c_ * std::fabs(steer_wheel));
 }
 
-uint16_t PacmodInterface::toPacmodShiftCmd(
-  const autoware_vehicle_msgs::msg::GearCommand & gear_cmd)
+uint16_t PacmodInterface::toPacmodShiftCmd(const autoware_vehicle_msgs::msg::GearCommand & gear_cmd)
 {
   using pacmod3_msgs::msg::SystemCmdInt;
 

diff --git a/pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp b/pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp
@@ -113,8 +113,7 @@ PacmodSteerTest::PacmodSteerTest()
   this->get_node_timers_interface()->add_timer(timer_, nullptr);
 }
 
-void PacmodSteerTest::callbackEngage(
-  const autoware_vehicle_msgs::msg::Engage::ConstSharedPtr msg)
+void PacmodSteerTest::callbackEngage(const autoware_vehicle_msgs::msg::Engage::ConstSharedPtr msg)
 {
   engage_cmd_ = msg->engage;
   is_clear_override_needed_ = true;