Reformat with uncrustify available in noble

Signed-off-by: Yadunund <yadunund@intrinsic.ai>

rmf_task/include/rmf_task/CompositeData.hpp

@@ -110,7 +110,9 @@ class CompositeData
 /// instance. The defined class will contain only one field whose type is
 /// specified by Type. The name of the class will be Name.
 #define RMF_TASK_DEFINE_COMPONENT(Type, Name) \
-  struct Name { Type value; Name(Type input) : value(input) {} }
+        struct Name { Type value; Name(Type input)\
+          : value(input) {}\
+        }
 
 #include <rmf_task/detail/impl_CompositeData.hpp>
 

rmf_task/src/rmf_task/BackupFileManager.cpp

@@ -288,7 +288,8 @@ std::optional<std::string> BackupFileManager::Robot::read() const
     if (filename.compare(_pimpl->backup_file_name) != 0 &&
       filename.compare(_pimpl->pre_backup_file_name) != 0)
     {
-      throw std::runtime_error("[BackupFileManager::Robot::read] Foreign file " +
+      throw std::runtime_error(
+              "[BackupFileManager::Robot::read] Foreign file " +
               filename + " found. This should be removed.");
     }
   }

rmf_task/src/rmf_task/Log.cpp

@@ -41,11 +41,11 @@ class Log::Implementation
     if (!clock)
     {
       clock = []()
-        {
-          return rmf_traffic::Time(
-            rmf_traffic::Duration(
-              std::chrono::system_clock::now().time_since_epoch()));
-        };
+      {
+        return rmf_traffic::Time(
+          rmf_traffic::Duration(
+            std::chrono::system_clock::now().time_since_epoch()));
+      };
     }
   }
 

rmf_task/src/rmf_task/TaskPlanner.cpp

@@ -662,16 +662,16 @@ class TaskPlanner::Implementation
     initial_node->sort_invariants();
 
     initial_node->latest_time = [&]() -> rmf_traffic::Time
+    {
+      rmf_traffic::Time latest = rmf_traffic::Time::min();
+      for (const auto& s : initial_states)
       {
-        rmf_traffic::Time latest = rmf_traffic::Time::min();
-        for (const auto& s : initial_states)
-        {
-          if (latest < s.time().value())
-            latest = s.time().value();
-        }
+        if (latest < s.time().value())
+          latest = s.time().value();
+      }
 
-        return latest;
-      } ();
+      return latest;
+    } ();
 
     rmf_traffic::Time wait_until = rmf_traffic::Time::max();
 

rmf_task/src/rmf_task/internal_task_planning.cpp

@@ -53,7 +53,8 @@ void Candidates::update_candidate(
   _candidate_map[candidate] = _value_map.insert(
     {
       state.time().value(),
-      Entry{candidate, state, wait_until, previous_state, require_charge_battery}
+      Entry{candidate, state, wait_until, previous_state,
+        require_charge_battery}
     });
 }
 

rmf_task/test/integration/test_backups.cpp

@@ -26,7 +26,8 @@
 const std::filesystem::path backup_root_dir = "/tmp/rmf_task/test_backups";
 void cleanup()
 {
-  std::filesystem::remove_all(std::filesystem::weakly_canonical(backup_root_dir));
+  std::filesystem::remove_all(std::filesystem::weakly_canonical(
+      backup_root_dir));
 }
 
 SCENARIO("Backup file creation and clearing tests")

rmf_task/test/mock/MockDelivery.hpp

@@ -67,7 +67,8 @@ class MockDelivery : public rmf_task::Task
         const uint64_t max_phase_id = pending_phases().size();
         if (phase_id < min_phase_id && phase_id > max_phase_id)
         {
-          throw std::runtime_error("[MockDelivery::Active] phase_id given was " + std::to_string(
+          throw std::runtime_error(
+                  "[MockDelivery::Active] phase_id given was " + std::to_string(
                     phase_id) + " not in range of " + std::to_string(
                     min_phase_id) + "," + std::to_string(max_phase_id) + ".");
         }

rmf_task/test/unit/agv/test_TaskPlanner.cpp

@@ -149,10 +149,10 @@ SCENARIO("Grid World")
 
   rmf_traffic::agv::Graph graph;
   auto add_bidir_lane = [&](const std::size_t w0, const std::size_t w1)
-    {
-      graph.add_lane(w0, w1);
-      graph.add_lane(w1, w0);
-    };
+  {
+    graph.add_lane(w0, w1);
+    graph.add_lane(w1, w0);
+  };
 
   const std::string map_name = "test_map";
 

rmf_task_sequence/src/rmf_task_sequence/Task.cpp

@@ -659,16 +659,16 @@ void Task::Active::_load_backup(std::string backup_state_str)
   const auto start_time = _clock();
 
   const auto failed_to_restore = [&]() -> void
-    {
-      _pending_stages.clear();
-      _phase_finished(
-        std::make_shared<rmf_task::Phase::Completed>(
-          rmf_task::Phase::Snapshot::make(*restore_phase),
-          start_time,
-          _clock()));
-
-      _finish_task();
-    };
+  {
+    _pending_stages.clear();
+    _phase_finished(
+      std::make_shared<rmf_task::Phase::Completed>(
+        rmf_task::Phase::Snapshot::make(*restore_phase),
+        start_time,
+        _clock()));
+
+    _finish_task();
+  };
 
   const auto backup_state = nlohmann::json::parse(backup_state_str);
   if (const auto result =

rmf_task_sequence/src/rmf_task_sequence/events/Bundle.cpp

@@ -310,9 +310,9 @@ void Bundle::add(const Event::InitializerPtr& initializer)
       if (!initialize_from)
       {
         throw std::runtime_error(
-          "[rmf_task_sequence::Bundle::add] Use-after-free error: Event "
-          "initializer has already destructed, but is still being used to "
-          "initialize an event.");
+                "[rmf_task_sequence::Bundle::add] Use-after-free error: Event "
+                "initializer has already destructed, but is still being used to "
+                "initialize an event.");
       }
 
       return initiate(
@@ -337,9 +337,9 @@ void Bundle::add(const Event::InitializerPtr& initializer)
       if (!initialize_from)
       {
         throw std::runtime_error(
-          "[rmf_task_sequence::Bundle::add] Use-after-free error: Event "
-          "initializer has already destructed, but is still being used to "
-          "initialize an event.");
+                "[rmf_task_sequence::Bundle::add] Use-after-free error: Event "
+                "initializer has already destructed, but is still being used to "
+                "initialize an event.");
       }
 
       return restore(

rmf_task_sequence/src/rmf_task_sequence/events/GoToPlace.cpp

@@ -328,11 +328,11 @@ Header GoToPlace::Description::generate_header(
   }
 
   auto goal_name = [&](const rmf_traffic::agv::Plan::Goal& goal)
-    {
-      return rmf_task::standard_waypoint_name(
-        parameters.planner()->get_configuration().graph(),
-        goal.waypoint());
-    };
+  {
+    return rmf_task::standard_waypoint_name(
+      parameters.planner()->get_configuration().graph(),
+      goal.waypoint());
+  };
 
   const auto goal_name_ = goal_name(_pimpl->one_of[selected_index]);
 
@@ -370,11 +370,11 @@ std::string GoToPlace::Description::destination_name(
     return "<none>";
 
   auto goal_name = [&](const rmf_traffic::agv::Plan::Goal& goal)
-    {
-      return rmf_task::standard_waypoint_name(
-        parameters.planner()->get_configuration().graph(),
-        goal.waypoint());
-    };
+  {
+    return rmf_task::standard_waypoint_name(
+      parameters.planner()->get_configuration().graph(),
+      goal.waypoint());
+  };
 
   return std::accumulate(
     std::next(_pimpl->one_of.begin()),

rmf_task_sequence/src/rmf_task_sequence/events/Sequence.cpp

@@ -32,10 +32,10 @@ Event::StandbyPtr Sequence::Standby::initiate(
 {
   auto state = make_state(id, description);
   const auto update = [parent_update, state]()
-    {
-      update_status(*state);
-      parent_update();
-    };
+  {
+    update_status(*state);
+    parent_update();
+  };
 
   std::vector<Event::StandbyPtr> dependencies;
   dependencies.reserve(description.dependencies().size());
@@ -62,10 +62,10 @@ Event::StandbyPtr Sequence::Standby::initiate(
   std::function<void()> parent_update)
 {
   const auto update = [parent_update, state]()
-    {
-      update_status(*state);
-      parent_update();
-    };
+  {
+    update_status(*state);
+    parent_update();
+  };
 
   std::vector<Event::StandbyPtr> dependencies;
   dependencies.reserve(dependencies_fn.size());
@@ -173,10 +173,10 @@ Event::ActivePtr Sequence::Active::restore(
 {
   auto state = Sequence::Standby::make_state(id, description);
   const auto update = [parent_update = std::move(parent_update), state]()
-    {
-      Sequence::Standby::update_status(*state);
-      parent_update();
-    };
+  {
+    Sequence::Standby::update_status(*state);
+    parent_update();
+  };
 
   std::vector<Event::StandbyPtr> dependencies;
 
@@ -217,10 +217,10 @@ Event::ActivePtr Sequence::Active::restore(
     std::move(finished));
 
   const auto event_finished = [me = active->weak_from_this()]()
-    {
-      if (const auto self = me.lock())
-        self->next();
-    };
+  {
+    if (const auto self = me.lock())
+      self->next();
+  };
 
   const auto& current_event_state = current_event_json["state"];
   active->_current = initializer.restore(
@@ -383,13 +383,13 @@ void Sequence::Active::next()
       me = weak_from_this(),
       event_index_plus_one = _current_event_index_plus_one
       ]()
+    {
+      if (const auto self = me.lock())
       {
-        if (const auto self = me.lock())
-        {
-          if (event_index_plus_one == self->_current_event_index_plus_one)
-            self->next();
-        }
-      };
+        if (event_index_plus_one == self->_current_event_index_plus_one)
+          self->next();
+      }
+    };
 
     _current = next_event->begin(_checkpoint, event_finished);
   } while (_current->state()->finished());

rmf_task_sequence/test/unit/utils.hpp

@@ -107,10 +107,10 @@ std::shared_ptr<rmf_task::Parameters> make_test_parameters(
   REQUIRE(graph.num_waypoints() == 13);
 
   auto add_bidir_lane = [&](const std::size_t w0, const std::size_t w1)
-    {
-      graph.add_lane(w0, w1);
-      graph.add_lane(w1, w0);
-    };
+  {
+    graph.add_lane(w0, w1);
+    graph.add_lane(w1, w0);
+  };
 
   add_bidir_lane(0, 1);
   add_bidir_lane(1, 2);