lint

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
ros2 · Aug 24, 2022 · 0a94fa5 · 0a94fa5
1 parent 84db6c7
commit 0a94fa5
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Showing 5 changed files with 58 additions and 42 deletions.
diff --git a/rclpy/src/rclpy/client.hpp b/rclpy/src/rclpy/client.hpp
@@ -49,11 +49,12 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
    * \param[in] pyqos QoSProfile python object for this client
    * \param[in] clock Clock to use for service event timestamps
    */
-  Client(Node & node, py::object pysrv_type, const char * service_name, py::object pyqos,
-      Clock & clock)
-    : Client(
-        node, std::move(pysrv_type), service_name, std::move(pyqos),
-        rcl_publisher_get_default_options().qos, clock){}
+  Client(
+    Node & node, py::object pysrv_type, const char * service_name, py::object pyqos,
+    Clock & clock)
+  : Client(
+      node, std::move(pysrv_type), service_name, std::move(pyqos),
+      rcl_publisher_get_default_options().qos, clock) {}
 
   /// Create a client
   /**
@@ -71,12 +72,13 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
    * \param[in] pyqos_service_event_pub QoSProfile python object for the service event publisher
    * \param[in] clock Clock to use for service event timestamps
    */
-  Client(Node & node, py::object pysrv_type, const char * service_name, py::object pyqos,
-      py::object pyqos_service_event_pub, Clock & clock)
-    : Client(
-        node, std::move(pysrv_type), service_name, std::move(pyqos),
-        pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos : pyqos_service_event_pub.cast<rmw_qos_profile_t>(),
-        clock){}
+  Client(
+    Node & node, py::object pysrv_type, const char * service_name, py::object pyqos,
+    py::object pyqos_service_event_pub, Clock & clock)
+  : Client(
+      node, std::move(pysrv_type), service_name, std::move(pyqos),
+      pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos : pyqos_service_event_pub.cast<rmw_qos_profile_t>(),
+      clock) {}
 
   ~Client() = default;
 
@@ -122,8 +124,9 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
   destroy() override;
 
 private:
-  Client(Node & node, py::object pysrv_type, const char * service_name, py::object pyqos,
-      rmw_qos_profile_t pyqos_service_event_pub, Clock & clock);
+  Client(
+    Node & node, py::object pysrv_type, const char * service_name, py::object pyqos,
+    rmw_qos_profile_t pyqos_service_event_pub, Clock & clock);
   Node node_;
   std::shared_ptr<rcl_client_t> rcl_client_;
 };

diff --git a/rclpy/src/rclpy/service.cpp b/rclpy/src/rclpy/service.cpp
@@ -39,11 +39,11 @@ Service::destroy()
 }
 
 Service::Service(
-    Node & node, py::object pysrv_type, std::string service_name, py::object pyqos_srv_profile,
-    rmw_qos_profile_t service_event_publisher_qos, Clock & clock)
+  Node & node, py::object pysrv_type, std::string service_name, py::object pyqos_srv_profile,
+  rmw_qos_profile_t service_event_publisher_qos, Clock & clock)
 : node_(node)
 {
-  auto *srv_type = static_cast<rosidl_service_type_support_t *>(
+  auto * srv_type = static_cast<rosidl_service_type_support_t *>(
     common_get_type_support(pysrv_type));
   if (nullptr == srv_type) {
     throw py::error_already_set();

diff --git a/rclpy/src/rclpy/service.hpp b/rclpy/src/rclpy/service.hpp
@@ -58,9 +58,9 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
     std::string service_name,
     py::object pyqos_profile,
     Clock & clock)
-    : Service(
-        node, std::move(pysrv_type), std::move(service_name), std::move(pyqos_profile),
-        rcl_service_get_default_options().qos, clock){}
+  : Service(
+      node, std::move(pysrv_type), std::move(service_name), std::move(pyqos_profile),
+      rcl_service_get_default_options().qos, clock) {}
 
   /// Create a service server
   /**
@@ -85,10 +85,10 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
     py::object pyqos_srv_profile,
     py::object pyqos_service_event_pub,
     Clock & clock)
-    : Service(
-        node, std::move(pysrv_type), std::move(service_name), std::move(pyqos_srv_profile),
-        pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos : pyqos_service_event_pub.cast<rmw_qos_profile_t>(),
-        clock){}
+  : Service(
+      node, std::move(pysrv_type), std::move(service_name), std::move(pyqos_srv_profile),
+      pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos : pyqos_service_event_pub.cast<rmw_qos_profile_t>(),
+      clock) {}
 
   Service(
     Node & node, std::shared_ptr<rcl_service_t> rcl_service);

diff --git a/rclpy/src/rclpy/service_introspection.cpp b/rclpy/src/rclpy/service_introspection.cpp
@@ -19,28 +19,40 @@
 #include "rcl/client.h"
 #include "rcl/service.h"
 
-namespace rclpy {
+namespace rclpy
+{
 
 #include <cstdio>
 void
 define_service_introspection(py::module_ module)
 {
-  py::module_ m2 = module.def_submodule("service_introspection",
-      "utilities for introspecting services");
-  m2.def("configure_service_events",
-      [](size_t srv, size_t node, bool opt) {
-      return rcl_service_introspection_configure_server_service_events(reinterpret_cast<rcl_service_t *>(srv), reinterpret_cast<rcl_node_t *>(node), opt);
-      });
-  m2.def("configure_client_events",
-      [](size_t clt, size_t node, bool opt) {
-      return rcl_service_introspection_configure_client_service_events(reinterpret_cast<rcl_client_t *>(clt), reinterpret_cast<rcl_node_t *>(node), opt);
-      });
-  m2.def("configure_service_message_payload", [](size_t srv, bool opt){
-      return rcl_service_introspection_configure_server_service_event_message_payload(reinterpret_cast<rcl_service_t *>(srv), opt);
-      });
-  m2.def("configure_client_message_payload", [](size_t clt, bool opt) {
-      return rcl_service_introspection_configure_client_service_event_message_payload(reinterpret_cast<rcl_client_t *>(clt), opt);
-      });
+  py::module_ m2 = module.def_submodule(
+    "service_introspection",
+    "utilities for introspecting services");
+  m2.def(
+    "configure_service_events",
+    [](size_t srv, size_t node, bool opt) {
+      return rcl_service_introspection_configure_server_service_events(
+        reinterpret_cast<
+          rcl_service_t *>(srv), reinterpret_cast<rcl_node_t *>(node), opt);
+    });
+  m2.def(
+    "configure_client_events",
+    [](size_t clt, size_t node, bool opt) {
+      return rcl_service_introspection_configure_client_service_events(
+        reinterpret_cast<rcl_client_t
+        *>(clt), reinterpret_cast<rcl_node_t *>(node), opt);
+    });
+  m2.def(
+    "configure_service_message_payload", [](size_t srv, bool opt){
+      return rcl_service_introspection_configure_server_service_event_message_payload(
+        reinterpret_cast<rcl_service_t *>(srv), opt);
+    });
+  m2.def(
+    "configure_client_message_payload", [](size_t clt, bool opt) {
+      return rcl_service_introspection_configure_client_service_event_message_payload(
+        reinterpret_cast<rcl_client_t *>(clt), opt);
+    });
   m2.attr("RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER") =
     RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER;
   m2.attr("RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_PARAMETER") =
@@ -50,5 +62,5 @@ define_service_introspection(py::module_ module)
   m2.attr("RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_EVENT_CONTENT_PARAMETER") =
     RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_EVENT_CONTENT_PARAMETER;
   m2.attr("RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX") = RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX;
-} 
+}
 } // namespace rclpy
diff --git a/rclpy/src/rclpy/service_introspection.hpp b/rclpy/src/rclpy/service_introspection.hpp
@@ -19,7 +19,8 @@
 
 namespace py = pybind11;
 
-namespace rclpy {
+namespace rclpy
+{
 
 void
 define_service_introspection(py::module_ module);