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fix: Fix identation 2 -> 4 spaces

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This commit is contained in:
Wessel T
2025-09-18 10:04:55 +02:00
parent 2f9709b235
commit 507d720334
7 changed files with 147 additions and 132 deletions
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2
.editorconfig
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@@ -69,7 +69,7 @@ cpp_space_pointer_reference_alignment=left
cpp_space_around_ternary_operator=insert
cpp_wrap_preserve_blocks=one_liners
indent_style = space
indent_size = 2
indent_size = 4
charset = utf-8
trim_trailing_whitespace = true
insert_final_newline = true

39
src/les_pkg/src/les1/clock.cpp
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@@ -14,40 +14,41 @@
*/
#include <cstdlib>
#include "rclcpp/rclcpp.hpp"
namespace lessons::one::clock {
class NodeClock : public rclcpp::Node {
public:
NodeClock()
: Node("node_les1_clock")
{
timer_ = this->create_wall_timer(
std::chrono::seconds(1),
std::bind(&NodeClock::print_time, this)
);
}
NodeClock()
: Node("node_les1_clock")
{
timer_ = this->create_wall_timer(
std::chrono::seconds(1),
std::bind(&NodeClock::print_time, this)
);
}
void print_time() {
auto now = clock_.now();
RCLCPP_INFO(this->get_logger(), "Time: %.0f", now.seconds());
}
void print_time() {
auto now = clock_.now();
RCLCPP_INFO(this->get_logger(), "Time: %.0f", now.seconds());
}
private:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Clock clock_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Clock clock_;
};
} // namespace lessons::one::clock
int main(int argc,char *argv[]) {
rclcpp::init(argc,argv);
rclcpp::init(argc,argv);
auto node = std::make_shared<lessons::one::clock::NodeClock>();
auto node = std::make_shared<lessons::one::clock::NodeClock>();
rclcpp::spin(node);
rclcpp::shutdown();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
return 0;
}

10
src/les_pkg/src/les1/publisher.cpp
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@@ -81,12 +81,12 @@ private:
} // namespace lessons::one::pubsub
int main(int argc,char *argv[]) {
rclcpp::init(argc,argv);
rclcpp::init(argc,argv);
auto node = std::make_shared<lessons::one::pubsub::NodePublisher>();
auto node = std::make_shared<lessons::one::pubsub::NodePublisher>();
rclcpp::spin(node);
rclcpp::shutdown();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
return 0;
}

61
src/les_pkg/src/les1/subscriber.cpp
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@@ -23,45 +23,46 @@ public:
NodeLes1Subscriber()
: Node("node_les1_subscriber")
{
subscriber_location_ =
this->create_subscription<geometry_msgs::msg::Point>(
"location", 10,
std::bind(&NodeLes1Subscriber::sub_callback_location, this, _1)
subscriber_location_ =
this->create_subscription<geometry_msgs::msg::Point>(
"location", 10,
std::bind(&NodeLes1Subscriber::sub_callback_location, this, _1)
);
subscriber_hw_status_ =
this->create_subscription<les_interface::msg::HardwareStatus>(
"hardware_status", 10,
std::bind(&NodeLes1Subscriber::sub_callback_hw_status, this, _1)
);
}
void sub_callback_location(const geometry_msgs::msg::Point::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(),
"Received: x=%.2f, y=%.2f, z=%.2f", msg->x, msg->y, msg->z
);
}
subscriber_hw_status_ =
this->create_subscription<les_interface::msg::HardwareStatus>(
"hardware_status", 10,
std::bind(&NodeLes1Subscriber::sub_callback_hw_status, this, _1)
void sub_callback_hw_status(const les_interface::msg::HardwareStatus::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(),
"Received HW status: version=%ld, temp=%.2f, motors_ready=%s, msg=%s",
msg->version, msg->temperature,
msg->are_motors_ready ? "true" : "false",
msg->debug_message.c_str()
);
}
void sub_callback_location(const geometry_msgs::msg::Point::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(),
"Received: x=%.2f, y=%.2f, z=%.2f", msg->x, msg->y, msg->z
);
}
void sub_callback_hw_status(const les_interface::msg::HardwareStatus::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(),
"Received HW status: version=%ld, temp=%.2f, motors_ready=%s, msg=%s",
msg->version, msg->temperature,
msg->are_motors_ready ? "true" : "false",
msg->debug_message.c_str());
}
}
private:
rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr subscriber_location_;
rclcpp::Subscription<les_interface::msg::HardwareStatus>::SharedPtr subscriber_hw_status_;
rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr subscriber_location_;
rclcpp::Subscription<les_interface::msg::HardwareStatus>::SharedPtr subscriber_hw_status_;
};
int main(int argc,char *argv[]) {
rclcpp::init(argc,argv);
rclcpp::init(argc,argv);
auto node = std::make_shared<NodeLes1Subscriber>();
auto node = std::make_shared<NodeLes1Subscriber>();
rclcpp::spin(node);
rclcpp::shutdown();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
return 0;
}

76
src/les_pkg/src/les2/service_client.cpp
View File

@@ -21,51 +21,59 @@ namespace lessons::two::service {
class NodeClient : public rclcpp::Node {
public:
NodeClient()
: Node("node_les2_service_client")
{
client_ = this->create_client<ServiceVec>("vec_service_server");
timer_ = this->create_wall_timer(
seconds(3),
std::bind(&NodeClient::send_request, this)
);
}
NodeClient()
: Node("node_les2_service_client")
{
client_ = this->create_client<ServiceVec>("vec_service_server");
timer_ = this->create_wall_timer(
seconds(3),
std::bind(&NodeClient::send_request, this)
);
}
private:
void send_request() {
if (!client_->wait_for_service(seconds(1))) {
RCLCPP_WARN(this->get_logger(), "Service not available");
return;
}
void send_request() {
if (!client_->wait_for_service(seconds(1))) {
RCLCPP_WARN(this->get_logger(), "Service not available");
return;
}
auto request = std::make_shared<ServiceVec::Request>();
request->x = rand() % 100;
request->y = rand() % 100;
request->z = rand() % 100;
auto request = std::make_shared<ServiceVec::Request>();
request->x = rand() % 100;
request->y = rand() % 100;
request->z = rand() % 100;
auto future = client_->async_send_request(request,
std::bind(&NodeClient::handle_response, this, std::placeholders::_1)
);
}
auto future = client_->async_send_request(request);
auto result = rclcpp::spin_until_future_complete(this->shared_from_this(), future, std::chrono::seconds(2));
void handle_response(rclcpp::Client<ServiceVec>::SharedFuture future) {
auto response = future.get();
RCLCPP_INFO(this->get_logger(), "Received vec len: %.6lf", response->vec_len);
}
if (result == rclcpp::FutureReturnCode::SUCCESS) {
auto response = future.get();
RCLCPP_INFO(this->get_logger(), "Received vec len: %.6lf", response->vec_len);
} else if (result == rclcpp::FutureReturnCode::TIMEOUT) {
RCLCPP_WARN(this->get_logger(), "Service call timed out");
} else {
RCLCPP_ERROR(this->get_logger(), "Service call failed");
}
}
rclcpp::Client<ServiceVec>::SharedPtr client_;
rclcpp::TimerBase::SharedPtr timer_;
void handle_response(rclcpp::Client<ServiceVec>::SharedFuture future) {
auto response = future.get();
RCLCPP_INFO(this->get_logger(), "Received vec len: %.6lf", response->vec_len);
}
rclcpp::Client<ServiceVec>::SharedPtr client_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace lessons::two::service
int main(int argc, char **argv) {
srand(time(NULL));
rclcpp::init(argc, argv);
srand(time(NULL));
rclcpp::init(argc, argv);
auto node = std::make_shared<lessons::two::service::NodeClient>();
rclcpp::spin(node);
rclcpp::shutdown();
auto node = std::make_shared<lessons::two::service::NodeClient>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
return 0;
}

66
src/les_pkg/src/les2/service_server.cpp
View File

@@ -21,49 +21,49 @@ namespace lessons::two::service {
class NodeServer : public rclcpp::Node {
public:
NodeServer()
: Node("node_les2_service_server")
{
vec_service_server_ =
this->create_service<ServiceVec>(
"vec_service_server",
std::bind(
&NodeServer::callback_service,
this,
std::placeholders::_1,
std::placeholders::_2
)
);
NodeServer()
: Node("node_les2_service_server")
{
vec_service_server_ =
this->create_service<ServiceVec>(
"vec_service_server",
std::bind(
&NodeServer::callback_service,
this,
std::placeholders::_1,
std::placeholders::_2
)
);
RCLCPP_INFO(this->get_logger(), "Service Server started");
}
RCLCPP_INFO(this->get_logger(), "Service Server started");
}
void callback_service(
const ServiceVec::Request::SharedPtr request,
ServiceVec::Response::SharedPtr response
) {
response->vec_len = sqrt(
pow(request->x, 2) + pow(request->y, 2) + pow(request->z, 2)
);
void callback_service(
const ServiceVec::Request::SharedPtr request,
ServiceVec::Response::SharedPtr response
) {
response->vec_len = sqrt(
pow(request->x, 2) + pow(request->y, 2) + pow(request->z, 2)
);
RCLCPP_INFO(this->get_logger(),
"sqrt(pow(%.6lf), pow(%.6lf), pow(%.6lf))=%.6lf",
request->x, request->y, request->z, response->vec_len
);
}
RCLCPP_INFO(this->get_logger(),
"sqrt(pow(%.6lf), pow(%.6lf), pow(%.6lf))=%.6lf",
request->x, request->y, request->z, response->vec_len
);
}
private:
rclcpp::Service<ServiceVec>::SharedPtr vec_service_server_;
rclcpp::Service<ServiceVec>::SharedPtr vec_service_server_;
};
} // namespace lessons::two::service
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::init(argc, argv);
auto node = std::make_shared<lessons::two::service::NodeServer>();
rclcpp::spin(node);
rclcpp::shutdown();
auto node = std::make_shared<lessons::two::service::NodeServer>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
return 0;
}

25
src/les_pkg/src/node_template.cpp
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@@ -1,5 +1,9 @@
/* node_template.cpp
* Basic node template for ROS2
* Action server node template for ROS2
*
* Node description:
* Template action server that demonstrates action server implementation
* with goal handling, feedback publishing, and cancellation support
*
* Reviewed by: <x>
* Changelog:
@@ -7,16 +11,17 @@
*/
#include <cstdlib>
#include "rclcpp/rclcpp.hpp"
namespace lessons::zero::template {
class NodeTemplate : public rclcpp::Node {
public:
NodeTemplate()
: Node("node_template")
{
}
NodeTemplate()
: Node("node_template")
{
}
private:
};
@@ -24,12 +29,12 @@ private:
} // namespace lessons::zero::template
int main(int argc,char *argv[]) {
rclcpp::init(argc,argv);
rclcpp::init(argc,argv);
auto node = std::make_shared<lessons::zero::template::NodeTemplate>();
auto node = std::make_shared<lessons::zero::template::NodeTemplate>();
rclcpp::spin(node);
rclcpp::shutdown();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
return 0;
}