From 507d720334898e13e0a578a9e47b0b7d826adf68 Mon Sep 17 00:00:00 2001 From: Wessel Tip Date: Thu, 18 Sep 2025 10:04:55 +0200 Subject: [PATCH] fix: Fix identation 2 -> 4 spaces --- .editorconfig | 2 +- src/les_pkg/src/les1/clock.cpp | 39 ++++++------- src/les_pkg/src/les1/publisher.cpp | 10 ++-- src/les_pkg/src/les1/subscriber.cpp | 61 ++++++++++---------- src/les_pkg/src/les2/service_client.cpp | 76 ++++++++++++++----------- src/les_pkg/src/les2/service_server.cpp | 66 ++++++++++----------- src/les_pkg/src/node_template.cpp | 25 ++++---- 7 files changed, 147 insertions(+), 132 deletions(-) diff --git a/.editorconfig b/.editorconfig index 72ed0c9..48c782f 100755 --- a/.editorconfig +++ b/.editorconfig @@ -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 diff --git a/src/les_pkg/src/les1/clock.cpp b/src/les_pkg/src/les1/clock.cpp index dcb05a0..72ca4fc 100644 --- a/src/les_pkg/src/les1/clock.cpp +++ b/src/les_pkg/src/les1/clock.cpp @@ -14,40 +14,41 @@ */ #include + #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(); + auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); + rclcpp::spin(node); + rclcpp::shutdown(); - return 0; + return 0; } diff --git a/src/les_pkg/src/les1/publisher.cpp b/src/les_pkg/src/les1/publisher.cpp index 2444c61..315076d 100644 --- a/src/les_pkg/src/les1/publisher.cpp +++ b/src/les_pkg/src/les1/publisher.cpp @@ -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(); + auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); + rclcpp::spin(node); + rclcpp::shutdown(); - return 0; + return 0; } diff --git a/src/les_pkg/src/les1/subscriber.cpp b/src/les_pkg/src/les1/subscriber.cpp index 450db0b..28bb6cf 100644 --- a/src/les_pkg/src/les1/subscriber.cpp +++ b/src/les_pkg/src/les1/subscriber.cpp @@ -23,45 +23,46 @@ public: NodeLes1Subscriber() : Node("node_les1_subscriber") { - subscriber_location_ = - this->create_subscription( - "location", 10, - std::bind(&NodeLes1Subscriber::sub_callback_location, this, _1) + subscriber_location_ = + this->create_subscription( + "location", 10, + std::bind(&NodeLes1Subscriber::sub_callback_location, this, _1) + ); + + subscriber_hw_status_ = + this->create_subscription( + "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( - "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::SharedPtr subscriber_location_; - rclcpp::Subscription::SharedPtr subscriber_hw_status_; + rclcpp::Subscription::SharedPtr subscriber_location_; + rclcpp::Subscription::SharedPtr subscriber_hw_status_; }; int main(int argc,char *argv[]) { - rclcpp::init(argc,argv); + rclcpp::init(argc,argv); - auto node = std::make_shared(); + auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); + rclcpp::spin(node); + rclcpp::shutdown(); - return 0; + return 0; } diff --git a/src/les_pkg/src/les2/service_client.cpp b/src/les_pkg/src/les2/service_client.cpp index e60d9f6..e0e8e5d 100644 --- a/src/les_pkg/src/les2/service_client.cpp +++ b/src/les_pkg/src/les2/service_client.cpp @@ -21,51 +21,59 @@ namespace lessons::two::service { class NodeClient : public rclcpp::Node { public: - NodeClient() - : Node("node_les2_service_client") - { - client_ = this->create_client("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("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(); - request->x = rand() % 100; - request->y = rand() % 100; - request->z = rand() % 100; + auto request = std::make_shared(); + 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::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::SharedPtr client_; - rclcpp::TimerBase::SharedPtr timer_; + void handle_response(rclcpp::Client::SharedFuture future) { + auto response = future.get(); + RCLCPP_INFO(this->get_logger(), "Received vec len: %.6lf", response->vec_len); + } + + rclcpp::Client::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(); - rclcpp::spin(node); - rclcpp::shutdown(); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); - return 0; + return 0; } diff --git a/src/les_pkg/src/les2/service_server.cpp b/src/les_pkg/src/les2/service_server.cpp index 74c9506..a065ccc 100644 --- a/src/les_pkg/src/les2/service_server.cpp +++ b/src/les_pkg/src/les2/service_server.cpp @@ -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( - "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( + "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::SharedPtr vec_service_server_; + rclcpp::Service::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(); - rclcpp::spin(node); - rclcpp::shutdown(); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); - return 0; + return 0; } diff --git a/src/les_pkg/src/node_template.cpp b/src/les_pkg/src/node_template.cpp index ae9db49..d303b39 100644 --- a/src/les_pkg/src/node_template.cpp +++ b/src/les_pkg/src/node_template.cpp @@ -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: * Changelog: @@ -7,16 +11,17 @@ */ #include + #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(); + auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); + rclcpp::spin(node); + rclcpp::shutdown(); - return 0; + return 0; }