Cleanup control

modules/control/common/base_types.h

@@ -13,6 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
+
 #ifndef MODULES_CONTROL_COMMON_BASE_TYPES_H_
 #define MODULES_CONTROL_COMMON_BASE_TYPES_H_
 
@@ -58,4 +59,4 @@ struct TrajectoryPoint : public PathPoint {
 }  // namespace control
 }  // namespace apollo
 
-#endif /* MODULES_CONTROL_COMMON_BASE_TYPES_H_ */
+#endif  // MODULES_CONTROL_COMMON_BASE_TYPES_H_

modules/control/common/definitions.h

@@ -18,6 +18,7 @@
 #define MODULES_CONTROL_COMMON_DEFINITIONS_H_
 
 #include "modules/common/proto/error_code.pb.h"
+
 #include "modules/common/status/status.h"
 
 /**

modules/control/common/hysteresis_filter.h

@@ -16,6 +16,7 @@
 
 /**
  * @file
+ * @brief hysteresis filter
  */
 
 #ifndef MODULES_CONTROL_COMMON_HYSTERESIS_FILTER_H_

modules/control/common/interpolation_2d.cc

@@ -13,6 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
+
 #include "modules/control/common/interpolation_2d.h"
 
 #include <cmath>

modules/control/common/trajectory_analyzer.h

@@ -24,9 +24,10 @@
 
 #include <vector>
 
+#include "modules/planning/proto/planning.pb.h"
+
 #include "modules/common/vehicle_state/vehicle_state.h"
 #include "modules/control/common/base_types.h"
-#include "modules/planning/proto/planning.pb.h"
 
 /**
  * @namespace apollo::control
@@ -138,4 +139,4 @@ class TrajectoryAnalyzer {
 }  // namespace control
 }  // namespace apollo
 
-#endif /* MODULES_CONTROL_COMMON_TRAJECTORY_ANALYZER_H_ */
+#endif  // MODULES_CONTROL_COMMON_TRAJECTORY_ANALYZER_H_

modules/control/control.cc

@@ -17,13 +17,15 @@
 
 #include <string>
 
+#include "ros/include/std_msgs/String.h"
+
+#include "modules/localization/proto/localization.pb.h"
+
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/time/time.h"
 #include "modules/control/common/control_gflags.h"
-#include "modules/localization/proto/localization.pb.h"
-#include "ros/include/std_msgs/String.h"
 
 namespace apollo {
 namespace control {

modules/control/control.h

@@ -14,25 +14,25 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef CONTROL_CONTROL_H_
-#define CONTROL_CONTROL_H_
+#ifndef MODULES_CONTROL_CONTROL_H_
+#define MODULES_CONTROL_CONTROL_H_
 
 #include <cstdio>
 #include <memory>
 #include <mutex>
 #include <string>
 
 #include "modules/canbus/proto/chassis.pb.h"
-#include "modules/common/apollo_app.h"
-#include "modules/common/monitor/monitor.h"
 #include "modules/common/monitor/proto/monitor.pb.h"
-#include "modules/common/util/util.h"
-#include "modules/control/controller/controller_agent.h"
 #include "modules/control/proto/control_cmd.pb.h"
 #include "modules/control/proto/control_conf.pb.h"
 #include "modules/control/proto/pad_msg.pb.h"
 #include "modules/planning/proto/planning.pb.h"
-#include "std_msgs/String.h"
+
+#include "modules/common/apollo_app.h"
+#include "modules/common/monitor/monitor.h"
+#include "modules/common/util/util.h"
+#include "modules/control/controller/controller_agent.h"
 
 /**
  * @namespace apollo::control
@@ -126,4 +126,4 @@ class Control : public apollo::common::ApolloApp {
 }  // namespace control
 }  // namespace apollo
 
-#endif  // CONTROL_CONTROL_H_
+#endif  // MODULES_CONTROL_CONTROL_H_

modules/control/controller/controller.h

@@ -25,13 +25,12 @@
 #include <cmath>
 #include <string>
 
-#include "modules/canbus/proto/chassis.pb.h"
 #include "modules/control/proto/control_cmd.pb.h"
+#include "modules/control/proto/control_conf.pb.h"
 #include "modules/localization/proto/localization.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 
 #include "modules/control/common/definitions.h"
-#include "modules/control/proto/control_conf.pb.h"
 
 /**
  * @namespace apollo::control

modules/control/controller/controller_agent.h

@@ -26,12 +26,14 @@
 #include <memory>
 #include <vector>
 
-#include "modules/common/util/factory.h"
-#include "modules/control/controller/controller.h"
+#include "ros/include/ros/ros.h"
+
 #include "modules/control/proto/control_cmd.pb.h"
 #include "modules/control/proto/control_conf.pb.h"
 #include "modules/planning/proto/planning.pb.h"
-#include "ros/include/ros/ros.h"
+
+#include "modules/common/util/factory.h"
+#include "modules/control/controller/controller.h"
 
 /**
  * @namespace apollo::control

modules/control/controller/lon_controller_test.cc

@@ -23,15 +23,15 @@
 #include "gmock/gmock.h"
 #include "google/protobuf/text_format.h"
 #include "gtest/gtest.h"
-#include "modules/common/log.h"
 
+#include "modules/control/proto/control_conf.pb.h"
+#include "modules/planning/proto/planning.pb.h"
+
+#include "modules/common/log.h"
 #include "modules/common/time/time.h"
 #include "modules/common/util/file.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
 #include "modules/control/common/control_gflags.h"
-#include "modules/control/proto/control_conf.pb.h"
-#include "modules/planning/proto/planning.pb.h"
-
 #include "modules/localization/common/localization_gflags.h"
 
 namespace apollo {
@@ -56,7 +56,7 @@ class LonControllerTest : public ::testing::Test, LonController {
         "modules/control/testdata/conf/lincoln.pb.txt";
 
     CHECK(apollo::common::util::GetProtoFromFile(control_conf_file,
-                                                       &control_conf));
+                                                 &control_conf));
     longitudinal_conf_ = control_conf.lon_controller_conf();
 
     timestamp_ = apollo::common::time::ToSecond(Clock::Now());
@@ -77,26 +77,25 @@ class LonControllerTest : public ::testing::Test, LonController {
   }
 
  protected:
-  LocalizationPb LoadLocalizationPb(const std::string& filename) {
+  LocalizationPb LoadLocalizationPb(const std::string &filename) {
     LocalizationPb localization;
     CHECK(apollo::common::util::GetProtoFromFile(filename, &localization))
         << "Failed to open file " << filename;
     localization.mutable_header()->set_timestamp_sec(timestamp_);
     return std::move(localization);
   }
 
-  ChassisPb LoadChassisPb(const std::string& filename) {
+  ChassisPb LoadChassisPb(const std::string &filename) {
     ChassisPb chassis_pb;
     CHECK(apollo::common::util::GetProtoFromFile(filename, &chassis_pb))
         << "Failed to open file " << filename;
     chassis_pb.mutable_header()->set_timestamp_sec(timestamp_);
     return std::move(chassis_pb);
   }
 
-  TrajectoryPb LoadPlanningTrajectoryPb(const std::string& filename) {
+  TrajectoryPb LoadPlanningTrajectoryPb(const std::string &filename) {
     TrajectoryPb trajectory_pb;
-    CHECK(
-        apollo::common::util::GetProtoFromFile(filename, &trajectory_pb))
+    CHECK(apollo::common::util::GetProtoFromFile(filename, &trajectory_pb))
         << "Failed to open file " << filename;
 
     trajectory_pb.mutable_header()->set_timestamp_sec(timestamp_);
@@ -127,8 +126,8 @@ TEST_F(LonControllerTest, ComputeLongitudinalErrors) {
   double preview_time = longitudinal_conf_.preview_window() * ts;
 
   SimpleLongitudinalDebug debug;
-  ComputeLongitudinalErrors(vehicle_state, &trajectory_analyzer,
-                                         preview_time, &debug);
+  ComputeLongitudinalErrors(vehicle_state, &trajectory_analyzer, preview_time,
+                            &debug);
 
   double station_reference_expected = 0.16716666937000002;
   double speed_reference_expected = 1.70833337307;

modules/control/filters/BUILD

@@ -58,7 +58,7 @@ cc_test(
         ":digital_filter",
         ":digital_filter_coefficients",
         "//modules/common",
-        "//third_party/ros:ros_common",
+        "@ros//:ros_common",
         "@gtest//:main",
     ],
 )

modules/control/tools/control_tester.cc

@@ -21,12 +21,13 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 
+#include "modules/localization/proto/localization.pb.h"
+#include "modules/planning/proto/planning.pb.h"
+
 #include "modules/canbus/proto/chassis.pb.h"
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/control/common/control_gflags.h"
-#include "modules/localization/proto/localization.pb.h"
-#include "modules/planning/proto/planning.pb.h"
 
 DEFINE_string(
     chassis_test_file, "modules/control/testdata/control_tester/chassis.pb.txt",

modules/control/tools/enter_auto_mode.cc

@@ -14,14 +14,17 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include <glog/logging.h>
 #include <chrono>
 #include <mutex>
 #include <thread>
+
+#include <glog/logging.h>
+
 #include "modules/canbus/proto/chassis.pb.h"
+#include "modules/control/proto/pad_msg.pb.h"
+
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/control/common/control_gflags.h"
-#include "modules/control/proto/pad_msg.pb.h"
 
 using apollo::common::adapter::AdapterConfig;
 using apollo::common::adapter::AdapterManager;

modules/control/tools/terminal.cc

@@ -15,14 +15,17 @@
  *****************************************************************************/
 
 #include <iostream>
+
+#include "ros/include/ros/ros.h"
+#include "std_msgs/String.h"
+
 #include "modules/canbus/proto/chassis.pb.h"
+#include "modules/control/proto/pad_msg.pb.h"
+
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/time/time.h"
 #include "modules/control/common/control_gflags.h"
-#include "modules/control/proto/pad_msg.pb.h"
-#include "std_msgs/String.h"
-#include "ros/include/ros/ros.h"
 
 namespace {
 

modules/localization/rtk/rtk_localization_test.cc

@@ -18,11 +18,12 @@
 
 #include "google/protobuf/text_format.h"
 #include "gtest/gtest.h"
+#include "ros/include/ros/ros.h"
+
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/log.h"
 #include "modules/common/util/util.h"
 #include "modules/localization/common/localization_gflags.h"
-#include "third_party/ros/include/ros/ros.h"
 
 using apollo::common::adapter::AdapterConfig;
 using apollo::common::adapter::AdapterManager;