directly use ament_clang_format rules

Signed-off-by: James Smith <james@foxglove.dev>

rosbag2_storage_mcap/.clang-format

@@ -1,39 +1,19 @@
 ---
 Language: Cpp
-Standard: c++17
 BasedOnStyle: Google
 
-AllowShortFunctionsOnASingleLine: Empty
-AllowShortLambdasOnASingleLine: Empty
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak
-TabWidth: 2
-ContinuationIndentWidth: 2
-UseTab: Never
-BreakConstructorInitializers: BeforeComma
 BraceWrapping:
   AfterClass: true
   AfterFunction: true
   AfterNamespace: true
   AfterStruct: true
 BreakBeforeBraces: Custom
 ColumnLimit: 100
-ConstructorInitializerAllOnOneLineOrOnePerLine: false
-DerivePointerAlignment: false
-FixNamespaceComments: true
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
 DerivePointerAlignment: false
 PointerAlignment: Middle
 ReflowComments: false
-SortIncludes: true
-IndentPPDirectives: BeforeHash
-
-IncludeCategories:
-  - Regex: '^"'
-    Priority: 1
-  - Regex: "^<mcap"
-    Priority: 2
-  - Regex: "^<.*/"
-    Priority: 3
-  - Regex: "^<.*"
-    Priority: 4
 ...

rosbag2_storage_mcap/include/rosbag2_storage_mcap/message_definition_cache.hpp

@@ -15,14 +15,14 @@
 #ifndef ROSBAG2_STORAGE_MCAP__MESSAGE_DEFINITION_CACHE_HPP_
 #define ROSBAG2_STORAGE_MCAP__MESSAGE_DEFINITION_CACHE_HPP_
 
-#include "visibility_control.hpp"
-
 #include <set>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
 #include <utility>
 
+#include "visibility_control.hpp"
+
 namespace rosbag2_storage_mcap::internal
 {
 
@@ -56,15 +56,9 @@ class DefinitionNotFoundError : public std::exception
   std::string name_;
 
 public:
-  explicit DefinitionNotFoundError(std::string name)
-      : name_(std::move(name))
-  {
-  }
+  explicit DefinitionNotFoundError(std::string name) : name_(std::move(name)) {}
 
-  const char * what() const noexcept override
-  {
-    return name_.c_str();
-  }
+  const char * what() const noexcept override { return name_.c_str(); }
 };
 
 class MessageDefinitionCache final

rosbag2_storage_mcap/include/rosbag2_storage_mcap/visibility_control.hpp

@@ -24,26 +24,26 @@
 //     https://gcc.gnu.org/wiki/Visibility
 
 #if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define ROSBAG2_STORAGE_MCAP_EXPORT __attribute__((dllexport))
-    #define ROSBAG2_STORAGE_MCAP_IMPORT __attribute__((dllimport))
-  #else
-    #define ROSBAG2_STORAGE_MCAP_EXPORT __declspec(dllexport)
-    #define ROSBAG2_STORAGE_MCAP_IMPORT __declspec(dllimport)
-  #endif
-  #ifdef ROSBAG2_STORAGE_MCAP_BUILDING_DLL
-    #define ROSBAG2_STORAGE_MCAP_PUBLIC ROSBAG2_STORAGE_MCAP_EXPORT
-  #else
-    #define ROSBAG2_STORAGE_MCAP_PUBLIC ROSBAG2_STORAGE_MCAP_IMPORT
-  #endif
+#ifdef __GNUC__
+#define ROSBAG2_STORAGE_MCAP_EXPORT __attribute__((dllexport))
+#define ROSBAG2_STORAGE_MCAP_IMPORT __attribute__((dllimport))
 #else
-  #define ROSBAG2_STORAGE_MCAP_EXPORT __attribute__((visibility("default")))
-  #define ROSBAG2_STORAGE_MCAP_IMPORT
-  #if __GNUC__ >= 4
-    #define ROSBAG2_STORAGE_MCAP_PUBLIC __attribute__((visibility("default")))
-  #else
-    #define ROSBAG2_STORAGE_MCAP_PUBLIC
-  #endif
+#define ROSBAG2_STORAGE_MCAP_EXPORT __declspec(dllexport)
+#define ROSBAG2_STORAGE_MCAP_IMPORT __declspec(dllimport)
+#endif
+#ifdef ROSBAG2_STORAGE_MCAP_BUILDING_DLL
+#define ROSBAG2_STORAGE_MCAP_PUBLIC ROSBAG2_STORAGE_MCAP_EXPORT
+#else
+#define ROSBAG2_STORAGE_MCAP_PUBLIC ROSBAG2_STORAGE_MCAP_IMPORT
+#endif
+#else
+#define ROSBAG2_STORAGE_MCAP_EXPORT __attribute__((visibility("default")))
+#define ROSBAG2_STORAGE_MCAP_IMPORT
+#if __GNUC__ >= 4
+#define ROSBAG2_STORAGE_MCAP_PUBLIC __attribute__((visibility("default")))
+#else
+#define ROSBAG2_STORAGE_MCAP_PUBLIC
+#endif
 #endif
 
 #endif  // ROSBAG2_STORAGE_MCAP__VISIBILITY_CONTROL_HPP_

rosbag2_storage_mcap/src/mcap_storage.cpp

@@ -19,35 +19,34 @@
 #include "rosbag2_storage_mcap/message_definition_cache.hpp"
 
 #ifdef ROSBAG2_STORAGE_MCAP_HAS_YAML_HPP
-  #include "rosbag2_storage/yaml.hpp"
+#include "rosbag2_storage/yaml.hpp"
 #else
-  // COMPATIBILITY(foxy, galactic) - this block is available in rosbag2_storage/yaml.hpp in H
-  #ifdef _WIN32
-    // This is necessary because of a bug in yaml-cpp's cmake
-    #define YAML_CPP_DLL
-    // This is necessary because yaml-cpp does not always use dllimport/dllexport consistently
-    #pragma warning(push)
-    #pragma warning(disable : 4251)
-    #pragma warning(disable : 4275)
-  #endif
-  #include "yaml-cpp/yaml.h"
-  #ifdef _WIN32
-    #pragma warning(pop)
-  #endif
+// COMPATIBILITY(foxy, galactic) - this block is available in rosbag2_storage/yaml.hpp in H
+#ifdef _WIN32
+// This is necessary because of a bug in yaml-cpp's cmake
+#define YAML_CPP_DLL
+// This is necessary because yaml-cpp does not always use dllimport/dllexport consistently
+#pragma warning(push)
+#pragma warning(disable : 4251)
+#pragma warning(disable : 4275)
+#endif
+#include "yaml-cpp/yaml.h"
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
 #endif
-
-#include <mcap/mcap.hpp>
 
 #include <algorithm>
 #include <filesystem>
+#include <mcap/mcap.hpp>
 #include <memory>
 #include <optional>
 #include <string>
 #include <unordered_map>
 #include <utility>
 #include <vector>
 #ifdef ROSBAG2_STORAGE_MCAP_HAS_STORAGE_FILTER_TOPIC_REGEX
-  #include <regex>
+#include <regex>
 #endif
 
 #define DECLARE_YAML_VALUE_MAP(KEY_TYPE, VALUE_TYPE, ...)                   \
@@ -85,10 +84,7 @@ namespace
 // Simple wrapper with default constructor for use by YAML
 struct McapWriterOptions : mcap::McapWriterOptions
 {
-  McapWriterOptions()
-      : mcap::McapWriterOptions("ros2")
-  {
-  }
+  McapWriterOptions() : mcap::McapWriterOptions("ros2") {}
 };
 
 }  // namespace
@@ -415,10 +411,7 @@ rosbag2_storage::BagMetadata MCAPStorage::get_metadata()
   return metadata_;
 }
 
-std::string MCAPStorage::get_relative_file_path() const
-{
-  return relative_path_;
-}
+std::string MCAPStorage::get_relative_file_path() const { return relative_path_; }
 
 uint64_t MCAPStorage::get_bagfile_size() const
 {
@@ -433,10 +426,7 @@ uint64_t MCAPStorage::get_bagfile_size() const
   }
 }
 
-std::string MCAPStorage::get_storage_identifier() const
-{
-  return "mcap";
-}
+std::string MCAPStorage::get_storage_identifier() const { return "mcap"; }
 
 /** BaseReadInterface **/
 bool MCAPStorage::read_and_enqueue_message()
@@ -596,21 +586,15 @@ void MCAPStorage::set_filter(const rosbag2_storage::StorageFilter & storage_filt
   reset_iterator();
 }
 
-void MCAPStorage::reset_filter()
-{
-  set_filter(rosbag2_storage::StorageFilter());
-}
+void MCAPStorage::reset_filter() { set_filter(rosbag2_storage::StorageFilter()); }
 
 void MCAPStorage::seek(const rcutils_time_point_value_t & time_stamp)
 {
   reset_iterator(time_stamp);
 }
 
 /** ReadWriteInterface **/
-uint64_t MCAPStorage::get_minimum_split_file_size() const
-{
-  return 1024;
-}
+uint64_t MCAPStorage::get_minimum_split_file_size() const { return 1024; }
 
 /** BaseWriteInterface **/
 void MCAPStorage::write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg)

rosbag2_storage_mcap/src/message_definition_cache.cpp

@@ -14,11 +14,11 @@
 
 #include "rosbag2_storage_mcap/message_definition_cache.hpp"
 
+#include <rcutils/logging_macros.h>
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <ament_index_cpp/get_resource.hpp>
 #include <ament_index_cpp/get_resources.hpp>
-#include <rcutils/logging_macros.h>
-
 #include <fstream>
 #include <functional>
 #include <optional>
@@ -121,9 +121,9 @@ static std::string delimiter(const DefinitionIdentifier & definition_identifier)
 }
 
 MessageSpec::MessageSpec(Format format, std::string text, const std::string & package_context)
-    : dependencies(parse_dependencies(format, text, package_context))
-    , text(std::move(text))
-    , format(format)
+: dependencies(parse_dependencies(format, text, package_context)),
+  text(std::move(text)),
+  format(format)
 {
 }
 

rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp

@@ -20,20 +20,20 @@
 #include "rosbag2_cpp/writer.hpp"
 #include "rosbag2_cpp/writers/sequential_writer.hpp"
 #ifdef ROSBAG2_STORAGE_MCAP_HAS_STORAGE_OPTIONS
-  #include "rosbag2_storage/storage_options.hpp"
+#include "rosbag2_storage/storage_options.hpp"
 using StorageOptions = rosbag2_storage::StorageOptions;
 #else
-  #include "rosbag2_cpp/storage_options.hpp"
+#include "rosbag2_cpp/storage_options.hpp"
 using StorageOptions = rosbag2_cpp::StorageOptions;
 #endif
-#include "rosbag2_test_common/temporary_directory_fixture.hpp"
-#include "std_msgs/msg/string.hpp"
-
 #include <gmock/gmock.h>
 
 #include <memory>
 #include <string>
 
+#include "rosbag2_test_common/temporary_directory_fixture.hpp"
+#include "std_msgs/msg/string.hpp"
+
 using namespace ::testing;  // NOLINT
 using TemporaryDirectoryFixture = rosbag2_test_common::TemporaryDirectoryFixture;
 
@@ -130,9 +130,9 @@ TEST_F(TemporaryDirectoryFixture, can_write_mcap_with_zstd_configured_from_yaml)
     msg.data = message_data;
 
     rosbag2_cpp::Writer writer{std::make_unique<rosbag2_cpp::writers::SequentialWriter>()};
-  #ifndef ROSBAG2_STORAGE_MCAP_WRITER_CREATES_DIRECTORY
+#ifndef ROSBAG2_STORAGE_MCAP_WRITER_CREATES_DIRECTORY
     rcpputils::fs::create_directories(uri);
-  #endif
+#endif
     writer.open(options, rosbag2_cpp::ConverterOptions{});
     writer.create_topic(topic_metadata);
 

rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_message_definition_cache.cpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "gmock/gmock.h"
-#include "rosbag2_storage_mcap/message_definition_cache.hpp"
-
 #include <set>
 #include <string>
 
+#include "gmock/gmock.h"
+#include "rosbag2_storage_mcap/message_definition_cache.hpp"
+
 using rosbag2_storage_mcap::internal::Format;
 using rosbag2_storage_mcap::internal::MessageDefinitionCache;
 using rosbag2_storage_mcap::internal::parse_dependencies;