Merge pull request #150 from rosflight/clang-format-tweaks

Linter for clang-format
rosflight · Oct 11, 2023 · add3d58 · add3d58
2 parents cc1c32a + 27ea6b3
commit add3d58
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Showing 25 changed files with 181 additions and 86 deletions.
diff --git a/.clang-format b/.clang-format
@@ -33,7 +33,7 @@ BraceWrapping:
   SplitEmptyRecord: true
 BreakBeforeBinaryOperators: NonAssignment
 BreakBeforeTernaryOperators: true
-BreakConstructorInitializers: BeforeColon
+BreakConstructorInitializers: BeforeComma
 BreakInheritanceList: BeforeColon
 ColumnLimit: 100
 CompactNamespaces: false

diff --git a/.github/workflows/clang-format.yml b/.github/workflows/clang-format.yml
@@ -0,0 +1,19 @@
+name: Clang-Format
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v2
+      - uses: DoozyX/clang-format-lint-action@v0.14
+        with:
+          source: '.'
+          extensions: 'hpp,cpp'
+          clangFormatVersion: 14
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # ROSflight
 
-[![ROS2 CI](https://github.com/rosflight/rosflight/actions/workflows/ros2-ci.yml/badge.svg)](https://github.com/rosflight/rosflight/actions/workflows/ros2-ci.yml)
+[![ROS2 CI](https://github.com/rosflight/rosflight_ros_pkgs/actions/workflows/ros2-ci.yml/badge.svg)](https://github.com/rosflight/rosflight_ros_pkgs/actions/workflows/ros2-ci.yml) [![clang-format](https://github.com/rosflight/rosflight_ros_pkgs/actions/workflows/clang-format.yml/badge.svg)](https://github.com/rosflight/rosflight_ros_pkgs/actions/workflows/clang-format.yml) 
 
 This repository contains a ROS2 stack for interfacing with an autopilot running the ROSflight firmware.
 For more information on the ROSflight autopilot firmware stack, visit http://rosflight.org.
@@ -167,4 +167,4 @@ command `ros2 launch rosflight_utils fixedwing_sim_io_joy.launch.py`.
 
 Note that in order to actually arm and fly the UAV in the simulator, you still need to set the proper parameters on the
 flight controller. To do so, launch both the rosflight_sil and rosflight_io nodes. Set all necessary parameters
-with `ros2 launch rosflight_utils fixedwing_init_firmware.launch.py`. Wait until launch file completes.
+with `ros2 launch rosflight_utils fixedwing_init_firmware.launch.py`. Wait until launch file completes.
diff --git a/fix_code_style.sh b/fix_code_style.sh
@@ -8,7 +8,7 @@ cd $SCRIPTPATH
 # Find all files with ".hpp" or ".cpp" extensions in the current directory and subdirectories,
 # excluding certain paths (.rosflight_io/include/mavlink/v1.0/, ./rosflight_firmware/firmware/, and ./.git)
 find . -iname "*.hpp" -o -iname "*.cpp" | \
-egrep -v "^(.rosflight_io/include/mavlink/v1.0/|./rosflight_firmware/firmware/|./.git)" | \
+egrep -v "^(.rosflight_io/include/mavlink/v1.0/|./rosflight_sim/include/rosflight_sim/rosflight_firmware/|./.git)" | \
 
 # Format the files according to the rules specified in .clang-format
 xargs clang-format -i
diff --git a/rosflight_io/include/rosflight_io/mavrosflight/mavlink_comm.hpp b/rosflight_io/include/rosflight_io/mavrosflight/mavlink_comm.hpp
@@ -101,12 +101,12 @@ class MavlinkComm
   virtual bool is_open() = 0;
   virtual void do_open() = 0;
   virtual void do_close() = 0;
-  virtual void do_async_read(
-    const boost::asio::mutable_buffers_1 & buffer,
-    boost::function<void(const boost::system::error_code &, size_t)> handler) = 0;
-  virtual void do_async_write(
-    const boost::asio::const_buffers_1 & buffer,
-    boost::function<void(const boost::system::error_code &, size_t)> handler) = 0;
+  virtual void
+  do_async_read(const boost::asio::mutable_buffers_1 & buffer,
+                boost::function<void(const boost::system::error_code &, size_t)> handler) = 0;
+  virtual void
+  do_async_write(const boost::asio::const_buffers_1 & buffer,
+                 boost::function<void(const boost::system::error_code &, size_t)> handler) = 0;
 
   boost::asio::io_service io_service_; //!< boost io service provider
 
@@ -124,9 +124,14 @@ class MavlinkComm
     size_t len;
     size_t pos;
 
-    WriteBuffer() : len(0), pos(0) {}
+    WriteBuffer()
+        : len(0)
+        , pos(0)
+    {}
 
-    WriteBuffer(const uint8_t * buf, uint16_t len) : len(len), pos(0)
+    WriteBuffer(const uint8_t * buf, uint16_t len)
+        : len(len)
+        , pos(0)
     {
       assert(len <= MAVLINK_MAX_PACKET_LEN); //! \todo Do something less catastrophic here
       memcpy(data, buf, len);

diff --git a/rosflight_io/include/rosflight_io/mavrosflight/mavlink_serial.hpp b/rosflight_io/include/rosflight_io/mavrosflight/mavlink_serial.hpp
@@ -73,17 +73,17 @@ class MavlinkSerial : public MavlinkComm
   /**
    * \brief Initiate an asynchronous read operation
    */
-  void do_async_read(
-    const boost::asio::mutable_buffers_1 & buffer,
-    boost::function<void(const boost::system::error_code &, size_t)> handler) override;
+  void
+  do_async_read(const boost::asio::mutable_buffers_1 & buffer,
+                boost::function<void(const boost::system::error_code &, size_t)> handler) override;
 
   /**
    * \brief Initialize an asynchronous write operation
    * \param check_write_state If true, only start another write operation if a write sequence is not already running
    */
-  void do_async_write(
-    const boost::asio::const_buffers_1 & buffer,
-    boost::function<void(const boost::system::error_code &, size_t)> handler) override;
+  void
+  do_async_write(const boost::asio::const_buffers_1 & buffer,
+                 boost::function<void(const boost::system::error_code &, size_t)> handler) override;
 
   //===========================================================================
   // member variables

diff --git a/rosflight_io/include/rosflight_io/mavrosflight/mavlink_udp.hpp b/rosflight_io/include/rosflight_io/mavrosflight/mavlink_udp.hpp
@@ -72,12 +72,12 @@ class MavlinkUDP : public MavlinkComm
   bool is_open() override;
   void do_open() override;
   void do_close() override;
-  void do_async_read(
-    const boost::asio::mutable_buffers_1 & buffer,
-    boost::function<void(const boost::system::error_code &, size_t)> handler) override;
-  void do_async_write(
-    const boost::asio::const_buffers_1 & buffer,
-    boost::function<void(const boost::system::error_code &, size_t)> handler) override;
+  void
+  do_async_read(const boost::asio::mutable_buffers_1 & buffer,
+                boost::function<void(const boost::system::error_code &, size_t)> handler) override;
+  void
+  do_async_write(const boost::asio::const_buffers_1 & buffer,
+                 boost::function<void(const boost::system::error_code &, size_t)> handler) override;
 
   //===========================================================================
   // member variables

diff --git a/rosflight_io/include/rosflight_io/mavrosflight/serial_exception.hpp b/rosflight_io/include/rosflight_io/mavrosflight/serial_exception.hpp
@@ -57,7 +57,9 @@ class SerialException : public std::exception
 
   explicit SerialException(const boost::system::system_error & err) { init(err.what()); }
 
-  SerialException(const SerialException & other) : what_(other.what_) {}
+  SerialException(const SerialException & other)
+      : what_(other.what_)
+  {}
 
   ~SerialException() noexcept override = default;
 

diff --git a/rosflight_io/src/mag_cal.cpp b/rosflight_io/src/mag_cal.cpp
@@ -44,8 +44,12 @@
 namespace rosflight_io
 {
 CalibrateMag::CalibrateMag()
-    : Node("calibrate_accel_temp"), reference_field_strength_(1.0), calibrating_(false),
-      first_time_(true), start_time_(0), measurement_throttle_(0)
+    : Node("calibrate_accel_temp")
+    , reference_field_strength_(1.0)
+    , calibrating_(false)
+    , first_time_(true)
+    , start_time_(0)
+    , measurement_throttle_(0)
 {
   A_ = Eigen::MatrixXd::Zero(3, 3);
   b_ = Eigen::MatrixXd::Zero(3, 1);

diff --git a/rosflight_io/src/mavrosflight/mavlink_comm.cpp b/rosflight_io/src/mavrosflight/mavlink_comm.cpp
@@ -41,7 +41,11 @@ namespace mavrosflight
 using boost::asio::serial_port_base;
 
 MavlinkComm::MavlinkComm()
-    : io_service_(), read_buf_raw_(), msg_in_(), status_in_(), write_in_progress_(false)
+    : io_service_()
+    , read_buf_raw_()
+    , msg_in_()
+    , status_in_()
+    , write_in_progress_(false)
 {}
 
 MavlinkComm::~MavlinkComm() = default;

diff --git a/rosflight_io/src/mavrosflight/mavlink_serial.cpp b/rosflight_io/src/mavrosflight/mavlink_serial.cpp
@@ -42,7 +42,10 @@ namespace mavrosflight
 using boost::asio::serial_port_base;
 
 MavlinkSerial::MavlinkSerial(std::string port, int baud_rate)
-    : MavlinkComm(), serial_port_(io_service_), port_(std::move(port)), baud_rate_(baud_rate)
+    : MavlinkComm()
+    , serial_port_(io_service_)
+    , port_(std::move(port))
+    , baud_rate_(baud_rate)
 {}
 
 MavlinkSerial::~MavlinkSerial() { MavlinkSerial::do_close(); }

diff --git a/rosflight_io/src/mavrosflight/mavlink_udp.cpp b/rosflight_io/src/mavrosflight/mavlink_udp.cpp
@@ -45,8 +45,12 @@ using boost::asio::serial_port_base;
 
 MavlinkUDP::MavlinkUDP(std::string bind_host, uint16_t bind_port, std::string remote_host,
                        uint16_t remote_port)
-    : MavlinkComm(), bind_host_(std::move(bind_host)), bind_port_(bind_port),
-      remote_host_(std::move(remote_host)), remote_port_(remote_port), socket_(io_service_)
+    : MavlinkComm()
+    , bind_host_(std::move(bind_host))
+    , bind_port_(bind_port)
+    , remote_host_(std::move(remote_host))
+    , remote_port_(remote_port)
+    , socket_(io_service_)
 {}
 
 MavlinkUDP::~MavlinkUDP() { MavlinkUDP::do_close(); }

diff --git a/rosflight_io/src/mavrosflight/mavrosflight.cpp b/rosflight_io/src/mavrosflight/mavrosflight.cpp
@@ -41,7 +41,9 @@ namespace mavrosflight
 using boost::asio::serial_port_base;
 
 MavROSflight::MavROSflight(MavlinkComm & mavlink_comm, rclcpp::Node * const node)
-    : comm(mavlink_comm), param(&comm, node), time(&comm, node)
+    : comm(mavlink_comm)
+    , param(&comm, node)
+    , time(&comm, node)
 {
   comm.open();
 }

diff --git a/rosflight_io/src/mavrosflight/param.cpp b/rosflight_io/src/mavrosflight/param.cpp
@@ -38,12 +38,18 @@
 
 namespace mavrosflight
 {
-Param::Param() : value_(0), new_value_(0), expected_raw_value_(0)
+Param::Param()
+    : value_(0)
+    , new_value_(0)
+    , expected_raw_value_(0)
 {
   init("", -1, MAV_PARAM_TYPE_ENUM_END, 0.0f);
 }
 
-Param::Param(mavlink_param_value_t msg) : value_(0), new_value_(0), expected_raw_value_(0)
+Param::Param(mavlink_param_value_t msg)
+    : value_(0)
+    , new_value_(0)
+    , expected_raw_value_(0)
 {
   char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
   memcpy(name, msg.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
@@ -53,7 +59,9 @@ Param::Param(mavlink_param_value_t msg) : value_(0), new_value_(0), expected_raw
 }
 
 Param::Param(std::string name, int index, MAV_PARAM_TYPE type, float raw_value)
-    : value_(0), new_value_(0), expected_raw_value_(0)
+    : value_(0)
+    , new_value_(0)
+    , expected_raw_value_(0)
 {
   init(std::move(name), index, type, raw_value);
 }

diff --git a/rosflight_io/src/mavrosflight/param_manager.cpp b/rosflight_io/src/mavrosflight/param_manager.cpp
@@ -43,9 +43,16 @@
 namespace mavrosflight
 {
 ParamManager::ParamManager(MavlinkComm * const comm, rclcpp::Node * const node)
-    : node_(node), comm_(comm), unsaved_changes_(false), write_request_in_progress_(false),
-      first_param_received_(false), num_params_(0), received_count_(0), received_(nullptr),
-      got_all_params_(false), param_set_in_progress_(false)
+    : node_(node)
+    , comm_(comm)
+    , unsaved_changes_(false)
+    , write_request_in_progress_(false)
+    , first_param_received_(false)
+    , num_params_(0)
+    , received_count_(0)
+    , received_(nullptr)
+    , got_all_params_(false)
+    , param_set_in_progress_(false)
 {
   comm_->register_mavlink_listener(this);
 

diff --git a/rosflight_io/src/mavrosflight/time_manager.cpp b/rosflight_io/src/mavrosflight/time_manager.cpp
@@ -40,7 +40,11 @@
 namespace mavrosflight
 {
 TimeManager::TimeManager(MavlinkComm * const comm, rclcpp::Node * const node)
-    : comm_(comm), node_(node), offset_alpha_(0.95), offset_ns_(0), initialized_(false)
+    : comm_(comm)
+    , node_(node)
+    , offset_alpha_(0.95)
+    , offset_ns_(0)
+    , initialized_(false)
 {
   comm_->register_mavlink_listener(this);
   time_sync_timer_ = node_->create_wall_timer(
@@ -64,8 +68,7 @@ void TimeManager::handle_mavlink_message(const mavlink_message_t & msg)
 
       // if difference > 10ms, use it directly
       if (!initialized_ || (offset_ns_ - offset_ns) > std::chrono::milliseconds(10)
-        || (offset_ns_ - offset_ns) < std::chrono::milliseconds(-10))
-      {
+          || (offset_ns_ - offset_ns) < std::chrono::milliseconds(-10)) {
         RCLCPP_INFO(node_->get_logger(), "Detected time offset of %0.3f s.",
                     abs(std::chrono::duration<double>(offset_ns_ - offset_ns).count()));
         RCLCPP_DEBUG(node_->get_logger(), "FCU time: %0.3f, System time: %0.3f", tsync.tc1 * 1e-9,

diff --git a/rosflight_io/src/rosflight_io.cpp b/rosflight_io/src/rosflight_io.cpp
@@ -55,7 +55,9 @@
 
 namespace rosflight_io
 {
-rosflightIO::rosflightIO() : Node("rosflight_io"), prev_status_()
+rosflightIO::rosflightIO()
+    : Node("rosflight_io")
+    , prev_status_()
 {
   command_sub_ = this->create_subscription<rosflight_msgs::msg::Command>(
     "command", 1, std::bind(&rosflightIO::commandCallback, this, std::placeholders::_1));