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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_space_around_ternary_operator=insert
cpp_wrap_preserve_blocks=one_liners cpp_wrap_preserve_blocks=one_liners
indent_style = space indent_style = space
indent_size = 2 indent_size = 4
charset = utf-8 charset = utf-8
trim_trailing_whitespace = true trim_trailing_whitespace = true
insert_final_newline = true insert_final_newline = true

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

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

76
src/les_pkg/src/les2/service_client.cpp
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@@ -21,51 +21,59 @@ namespace lessons::two::service {
class NodeClient : public rclcpp::Node { class NodeClient : public rclcpp::Node {
public: public:
NodeClient() NodeClient()
: Node("node_les2_service_client") : Node("node_les2_service_client")
{ {
client_ = this->create_client<ServiceVec>("vec_service_server"); client_ = this->create_client<ServiceVec>("vec_service_server");
timer_ = this->create_wall_timer( timer_ = this->create_wall_timer(
seconds(3), seconds(3),
std::bind(&NodeClient::send_request, this) std::bind(&NodeClient::send_request, this)
); );
} }
private: private:
void send_request() { void send_request() {
if (!client_->wait_for_service(seconds(1))) { if (!client_->wait_for_service(seconds(1))) {
RCLCPP_WARN(this->get_logger(), "Service not available"); RCLCPP_WARN(this->get_logger(), "Service not available");
return; return;
} }
auto request = std::make_shared<ServiceVec::Request>(); auto request = std::make_shared<ServiceVec::Request>();
request->x = rand() % 100; request->x = rand() % 100;
request->y = rand() % 100; request->y = rand() % 100;
request->z = rand() % 100; request->z = rand() % 100;
auto future = client_->async_send_request(request, auto future = client_->async_send_request(request);
std::bind(&NodeClient::handle_response, this, std::placeholders::_1) auto result = rclcpp::spin_until_future_complete(this->shared_from_this(), future, std::chrono::seconds(2));
);
}
void handle_response(rclcpp::Client<ServiceVec>::SharedFuture future) { if (result == rclcpp::FutureReturnCode::SUCCESS) {
auto response = future.get(); auto response = future.get();
RCLCPP_INFO(this->get_logger(), "Received vec len: %.6lf", response->vec_len); 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_; void handle_response(rclcpp::Client<ServiceVec>::SharedFuture future) {
rclcpp::TimerBase::SharedPtr timer_; 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 } // namespace lessons::two::service
int main(int argc, char **argv) { int main(int argc, char **argv) {
srand(time(NULL)); srand(time(NULL));
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
auto node = std::make_shared<lessons::two::service::NodeClient>(); auto node = std::make_shared<lessons::two::service::NodeClient>();
rclcpp::spin(node); rclcpp::spin(node);
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;
} }

66
src/les_pkg/src/les2/service_server.cpp
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@@ -21,49 +21,49 @@ namespace lessons::two::service {
class NodeServer : public rclcpp::Node { class NodeServer : public rclcpp::Node {
public: public:
NodeServer() NodeServer()
: Node("node_les2_service_server") : Node("node_les2_service_server")
{ {
vec_service_server_ = vec_service_server_ =
this->create_service<ServiceVec>( this->create_service<ServiceVec>(
"vec_service_server", "vec_service_server",
std::bind( std::bind(
&NodeServer::callback_service, &NodeServer::callback_service,
this, this,
std::placeholders::_1, std::placeholders::_1,
std::placeholders::_2 std::placeholders::_2
) )
); );
RCLCPP_INFO(this->get_logger(), "Service Server started"); RCLCPP_INFO(this->get_logger(), "Service Server started");
} }
void callback_service( void callback_service(
const ServiceVec::Request::SharedPtr request, const ServiceVec::Request::SharedPtr request,
ServiceVec::Response::SharedPtr response ServiceVec::Response::SharedPtr response
) { ) {
response->vec_len = sqrt( response->vec_len = sqrt(
pow(request->x, 2) + pow(request->y, 2) + pow(request->z, 2) pow(request->x, 2) + pow(request->y, 2) + pow(request->z, 2)
); );
RCLCPP_INFO(this->get_logger(), RCLCPP_INFO(this->get_logger(),
"sqrt(pow(%.6lf), pow(%.6lf), pow(%.6lf))=%.6lf", "sqrt(pow(%.6lf), pow(%.6lf), pow(%.6lf))=%.6lf",
request->x, request->y, request->z, response->vec_len request->x, request->y, request->z, response->vec_len
); );
} }
private: private:
rclcpp::Service<ServiceVec>::SharedPtr vec_service_server_; rclcpp::Service<ServiceVec>::SharedPtr vec_service_server_;
}; };
} // namespace lessons::two::service } // namespace lessons::two::service
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
auto node = std::make_shared<lessons::two::service::NodeServer>(); auto node = std::make_shared<lessons::two::service::NodeServer>();
rclcpp::spin(node); rclcpp::spin(node);
rclcpp::shutdown(); 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 /* 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> * Reviewed by: <x>
* Changelog: * Changelog:
@@ -7,16 +11,17 @@
*/ */
#include <cstdlib> #include <cstdlib>
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
namespace lessons::zero::template { namespace lessons::zero::template {
class NodeTemplate : public rclcpp::Node { class NodeTemplate : public rclcpp::Node {
public: public:
NodeTemplate() NodeTemplate()
: Node("node_template") : Node("node_template")
{ {
} }
private: private:
}; };
@@ -24,12 +29,12 @@ private:
} // namespace lessons::zero::template } // namespace lessons::zero::template
int main(int argc,char *argv[]) { 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::spin(node);
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;
} }