From 3e1929c0a8dee302237b6e8a1aff60a918cd53dc Mon Sep 17 00:00:00 2001
From: Olivier Stasse <olivier.stasse@laas.fr>
Date: Sat, 2 Dec 2023 03:39:24 +0100
Subject: [PATCH] [pre-commit] Beautification
---
include/dynamic_graph_bridge/ros.hpp | 1 -
include/dynamic_graph_bridge/sot_loader.hh | 2 +-
.../dynamic_graph_bridge/sot_loader_basic.hh | 6 +-
scripts/remote_python_client.py | 2 +-
src/ros.cpp | 4 +-
src/ros_python_interpreter_server.cpp | 11 +-
src/sot_loader.cpp | 6 +-
src/sot_loader_basic.cpp | 37 +++----
tests/CMakeLists.txt | 7 +-
tests/impl_test_sot_external_interface.cpp | 3 +-
tests/test_ros_interpreter.cpp | 1 -
tests/test_sot_loader.cpp | 100 ++++++++----------
12 files changed, 84 insertions(+), 96 deletions(-)
diff --git a/include/dynamic_graph_bridge/ros.hpp b/include/dynamic_graph_bridge/ros.hpp
index 5340598..b11acb3 100644
--- a/include/dynamic_graph_bridge/ros.hpp
+++ b/include/dynamic_graph_bridge/ros.hpp
@@ -67,7 +67,6 @@ typedef std_srvs::srv::Empty EmptyServiceType;
*/
RosNodePtr get_ros_node(std::string node_name);
-
size_t ros_executor_get_nb_threads();
void ros_display_list_of_nodes();
diff --git a/include/dynamic_graph_bridge/sot_loader.hh b/include/dynamic_graph_bridge/sot_loader.hh
index 9d4070a..f844ba6 100644
--- a/include/dynamic_graph_bridge/sot_loader.hh
+++ b/include/dynamic_graph_bridge/sot_loader.hh
@@ -80,7 +80,7 @@ class SotLoader : public SotLoaderBasic {
geometry_msgs::msg::TransformStamped freeFlyerPose_;
public:
- SotLoader(const std::string &aNodeName=std::string("sot_loader"));
+ SotLoader(const std::string &aNodeName = std::string("sot_loader"));
virtual ~SotLoader();
// \brief Create a thread for ROS and start the control loop.
diff --git a/include/dynamic_graph_bridge/sot_loader_basic.hh b/include/dynamic_graph_bridge/sot_loader_basic.hh
index 8be36bf..76187f7 100644
--- a/include/dynamic_graph_bridge/sot_loader_basic.hh
+++ b/include/dynamic_graph_bridge/sot_loader_basic.hh
@@ -38,7 +38,7 @@
namespace po = boost::program_options;
namespace dgs = dynamicgraph::sot;
-class SotLoaderBasic {
+class SotLoaderBasic {
protected:
// RosNode
dynamic_graph_bridge::RosNodePtr ros_node_;
@@ -83,9 +83,9 @@ class SotLoaderBasic {
// Ordered list of joint names describing the robot state.
std::vector<std::string> stateVectorMap_;
-
public:
- SotLoaderBasic(const std::string& aNodeName = std::string("sot_loader_basic"));
+ SotLoaderBasic(
+ const std::string& aNodeName = std::string("sot_loader_basic"));
virtual ~SotLoaderBasic();
// \brief Read user input to extract the path of the SoT dynamic library.
diff --git a/scripts/remote_python_client.py b/scripts/remote_python_client.py
index 2fb0432..e3c7023 100755
--- a/scripts/remote_python_client.py
+++ b/scripts/remote_python_client.py
@@ -24,10 +24,10 @@ import sys
from pathlib import Path
import rclpy
+from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
# Used to connect to ROS services
from dynamic_graph_bridge.ros.dgcompleter import DGCompleter
-from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
def signal_handler(sig, frame):
diff --git a/src/ros.cpp b/src/ros.cpp
index dd07121..0f8f215 100644
--- a/src/ros.cpp
+++ b/src/ros.cpp
@@ -211,7 +211,6 @@ std::string executable_name() {
#endif
}
-
/**
* @brief Private function that allow us to initialize ROS only once.
*/
@@ -288,14 +287,13 @@ size_t ros_executor_get_nb_threads() {
void ros_display_list_of_nodes() {
GlobalListOfRosNodeType::iterator ros_node_it =
GLOBAL_LIST_OF_ROS_NODE.begin();
- while(ros_node_it!=GLOBAL_LIST_OF_ROS_NODE.end()) {
+ while (ros_node_it != GLOBAL_LIST_OF_ROS_NODE.end()) {
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
"ros_display_list_of_nodes: %s/%s",
ros_node_it->second->get_namespace(),
ros_node_it->second->get_name());
ros_node_it++;
}
-
}
void ros_clean() {
diff --git a/src/ros_python_interpreter_server.cpp b/src/ros_python_interpreter_server.cpp
index 9f93ada..ce92f7d 100644
--- a/src/ros_python_interpreter_server.cpp
+++ b/src/ros_python_interpreter_server.cpp
@@ -31,8 +31,9 @@ void RosPythonInterpreterServer::start_ros_service() {
std::placeholders::_1, std::placeholders::_2);
run_python_command_srv_ = ros_node_->create_service<RunPythonCommandSrvType>(
"/dynamic_graph_bridge/run_python_command", runCommandCb);
- RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
- "RosPythonInterpreterServer::start_ros_service - run_python_command...");
+ RCLCPP_INFO(
+ rclcpp::get_logger("dynamic_graph_bridge"),
+ "RosPythonInterpreterServer::start_ros_service - run_python_command...");
run_python_file_callback_t runPythonFileCb =
std::bind(&RosPythonInterpreterServer::runPythonFileCallback, this,
@@ -40,9 +41,9 @@ void RosPythonInterpreterServer::start_ros_service() {
run_python_file_srv_ = ros_node_->create_service<RunPythonFileSrvType>(
"/dynamic_graph_bridge/run_python_file", runPythonFileCb);
- RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
- "RosPythonInterpreterServer::start_ros_service - run_python_file...");
-
+ RCLCPP_INFO(
+ rclcpp::get_logger("dynamic_graph_bridge"),
+ "RosPythonInterpreterServer::start_ros_service - run_python_file...");
}
void RosPythonInterpreterServer::runCommandCallback(
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index 9db6ded..ae0f363 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -226,8 +226,10 @@ void SotLoader::workThreadLoader() {
double periodd;
/// Declare parameters
- if (not ros_node_->has_parameter("dt")) ros_node_->declare_parameter<double>("dt", 0.01);
- if (not ros_node_->has_parameter("paused")) ros_node_->declare_parameter<bool>("paused", false);
+ if (not ros_node_->has_parameter("dt"))
+ ros_node_->declare_parameter<double>("dt", 0.01);
+ if (not ros_node_->has_parameter("paused"))
+ ros_node_->declare_parameter<bool>("paused", false);
//
ros_node_->get_parameter_or("dt", periodd, 0.001);
diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
index 26ecf1c..a8f3593 100644
--- a/src/sot_loader_basic.cpp
+++ b/src/sot_loader_basic.cpp
@@ -31,7 +31,6 @@ SotLoaderBasic::SotLoaderBasic(const std::string& aNodeName)
dynamic_graph_stopped_(true),
sotController_(NULL),
sotRobotControllerLibrary_(0) {
-
ros_node_ = dynamic_graph_bridge::get_ros_node(aNodeName);
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge::"),
@@ -51,8 +50,8 @@ int SotLoaderBasic::initPublication() {
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
"SotLoaderBasic::initPublication - create joint_pub");
- joint_pub_ = ros_node_->
- create_publisher<sensor_msgs::msg::JointState>("joint_states", 1);
+ joint_pub_ = ros_node_->create_publisher<sensor_msgs::msg::JointState>(
+ "joint_states", 1);
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
"SotLoaderBasic::initPublication - after create joint_pub");
@@ -65,19 +64,17 @@ void SotLoaderBasic::initializeServices() {
"SotLoaderBasic::initializeServices - Ready to start dynamic graph.");
using namespace std::placeholders;
- service_start_ = ros_node_->
- create_service<std_srvs::srv::Empty>(
- "start_dynamic_graph",
- std::bind(&SotLoaderBasic::start_dg, this, std::placeholders::_1,
- std::placeholders::_2));
+ service_start_ = ros_node_->create_service<std_srvs::srv::Empty>(
+ "start_dynamic_graph",
+ std::bind(&SotLoaderBasic::start_dg, this, std::placeholders::_1,
+ std::placeholders::_2));
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
"SotLoaderBasic::initializeServices - start_dynamic_graph.");
- service_stop_ = ros_node_->
- create_service<std_srvs::srv::Empty>(
- "stop_dynamic_graph",
- std::bind(&SotLoaderBasic::stop_dg, this, std::placeholders::_1,
- std::placeholders::_2));
+ service_stop_ = ros_node_->create_service<std_srvs::srv::Empty>(
+ "stop_dynamic_graph",
+ std::bind(&SotLoaderBasic::stop_dg, this, std::placeholders::_1,
+ std::placeholders::_2));
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
"SotLoaderBasic::initializeServices - stop_dynamic_graph.");
@@ -95,9 +92,11 @@ int SotLoaderBasic::readSotVectorStateParam() {
// It is necessary to declare parameters first
// before trying to access them.
if (not ros_node_->has_parameter("state_vector_map"))
- ros_node_->declare_parameter("state_vector_map", std::vector<std::string>{});
+ ros_node_->declare_parameter("state_vector_map",
+ std::vector<std::string>{});
if (not ros_node_->has_parameter("joint_state_parallel"))
- ros_node_->declare_parameter("joint_state_parallel", std::vector<std::string>{});
+ ros_node_->declare_parameter("joint_state_parallel",
+ std::vector<std::string>{});
// Read the state vector of the robot
// Defines the order in which the actuators are ordered
@@ -208,8 +207,7 @@ void SotLoaderBasic::loadController() {
dlopen(dynamicLibraryName_.c_str(), RTLD_LAZY | RTLD_GLOBAL);
if (!sotRobotControllerLibrary_) {
RCLCPP_ERROR(rclcpp::get_logger("dynamic_graph_bridge"),
- "Cannot load library: %s",
- dlerror());
+ "Cannot load library: %s", dlerror());
return;
}
@@ -223,9 +221,8 @@ void SotLoaderBasic::loadController() {
const char* dlsym_error = dlerror();
if (dlsym_error) {
RCLCPP_ERROR(rclcpp::get_logger("dynamic_graph_bridge"),
- "Cannot load symbol create: %s from %s",
- dlsym_error,
- dynamicLibraryName_.c_str() );
+ "Cannot load symbol create: %s from %s", dlsym_error,
+ dynamicLibraryName_.c_str());
return;
}
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 184907b..aab0fcf 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -67,8 +67,8 @@ if(BUILD_TESTING)
PUBLIC include "${GMOCK_INCLUDE_DIRS}"
PRIVATE ${PROJECT_SOURCE_DIR}/include)
target_compile_definitions(
- test_sot_loader
- PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
+ test_sot_loader
+ PUBLIC TEST_CONFIG_PATH="${CMAKE_CURRENT_LIST_DIR}/python_scripts/")
target_link_libraries(test_sot_loader sot_loader "${GMOCK_LIBRARIES}")
add_launch_test(launch/launching_test_sot_loader.py)
@@ -116,8 +116,7 @@ if(BUILD_TESTING)
rclcpp rcl_interfaces std_srvs)
# Install tests
- install(TARGETS test_${test_name}
- DESTINATION lib/${PROJECT_NAME})
+ install(TARGETS test_${test_name} DESTINATION lib/${PROJECT_NAME})
endmacro(create_ros_bridge_unittest test_name)
diff --git a/tests/impl_test_sot_external_interface.cpp b/tests/impl_test_sot_external_interface.cpp
index 34b0100..c285411 100644
--- a/tests/impl_test_sot_external_interface.cpp
+++ b/tests/impl_test_sot_external_interface.cpp
@@ -79,7 +79,8 @@ void ImplTestSotExternalInterface::setupSetSensors(
void ImplTestSotExternalInterface::nominalSetSensors(
std::map<std::string, dynamicgraph::sot::SensorValues> &) {
- // std::cout << "ImplTestSotExternalInterface::nominalSetSensors" << std::endl;
+ // std::cout << "ImplTestSotExternalInterface::nominalSetSensors" <<
+ // std::endl;
}
void ImplTestSotExternalInterface::cleanupSetSensors(
diff --git a/tests/test_ros_interpreter.cpp b/tests/test_ros_interpreter.cpp
index 1129125..10091b3 100644
--- a/tests/test_ros_interpreter.cpp
+++ b/tests/test_ros_interpreter.cpp
@@ -286,5 +286,4 @@ TEST_F(TestRosInterpreter, test_call_run_script_ros_publish) {
/* Tests the result. */
ASSERT_EQ(result, "");
-
}
diff --git a/tests/test_sot_loader.cpp b/tests/test_sot_loader.cpp
index 12b32e1..3170c6d 100644
--- a/tests/test_sot_loader.cpp
+++ b/tests/test_sot_loader.cpp
@@ -8,14 +8,14 @@ using namespace std::chrono_literals;
#include <rclcpp/rclcpp.hpp>
#include "dynamic_graph_bridge/ros.hpp"
+#include "dynamic_graph_bridge/ros_python_interpreter_server.hpp"
#include "dynamic_graph_bridge/sot_loader.hh"
#include "dynamic_graph_bridge_msgs/msg/vector.hpp"
-#include "dynamic_graph_bridge/ros_python_interpreter_server.hpp"
namespace test_sot_loader {
int l_argc;
char** l_argv;
-}
+} // namespace test_sot_loader
namespace dg = dynamicgraph;
@@ -24,42 +24,45 @@ class MockSotLoaderTest : public ::testing::Test {
class MockSotLoader : public SotLoader {
public:
rclcpp::Subscription<dynamic_graph_bridge_msgs::msg::Vector>::SharedPtr
- subscription_;
+ subscription_;
bool service_done_;
std::string node_name_;
std::string response_dg_python_result_;
- MockSotLoader():
- node_name_("unittest_sot_loader") {}
+ MockSotLoader() : node_name_("unittest_sot_loader") {}
~MockSotLoader() {
service_done_ = false;
response_dg_python_result_ = "";
}
- void topic_callback(const dynamic_graph_bridge_msgs::msg::Vector::SharedPtr msg) const {
- bool ok=true;
- for(std::vector<double>::size_type idx=0;idx<msg->data.size();idx++) {
- if (msg->data[idx]!=0.0)
- ok=false;
+ void topic_callback(
+ const dynamic_graph_bridge_msgs::msg::Vector::SharedPtr msg) const {
+ bool ok = true;
+ for (std::vector<double>::size_type idx = 0; idx < msg->data.size();
+ idx++) {
+ if (msg->data[idx] != 0.0) ok = false;
}
ASSERT_TRUE(ok);
}
- // This method is to listen to publication from the control signal (dg world)
- // to the control_ros topic (ros world).
+ // This method is to listen to publication from the control signal (dg
+ // world) to the control_ros topic (ros world).
void subscribe_to_a_topic() {
- subscription_ = dynamic_graph_bridge::get_ros_node(node_name_)->
- create_subscription<dynamic_graph_bridge_msgs::msg::Vector>(
- "control_ros", 1, std::bind(&MockSotLoader::topic_callback, this,
- std::placeholders::_1));
+ subscription_ =
+ dynamic_graph_bridge::get_ros_node(node_name_)
+ ->create_subscription<dynamic_graph_bridge_msgs::msg::Vector>(
+ "control_ros", 1,
+ std::bind(&MockSotLoader::topic_callback, this,
+ std::placeholders::_1));
}
// This method is to receive the result of client request to run_python_file
//
void response_dg_python(
- const rclcpp::Client<dynamic_graph_bridge_msgs::srv::RunPythonFile>::SharedFuture
- future) {
- RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"), "response_dg_python:");
+ const rclcpp::Client<dynamic_graph_bridge_msgs::srv::RunPythonFile>::
+ SharedFuture future) {
+ RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
+ "response_dg_python:");
auto status = future.wait_for(500ms);
if (status == std::future_status::ready) {
// uncomment below line if using Empty() message
@@ -80,34 +83,30 @@ class MockSotLoaderTest : public ::testing::Test {
// Service name.
std::string service_name = "/dynamic_graph_bridge/run_python_file";
// Create a client from a temporary node.
- auto client = dynamic_graph_bridge::get_ros_node(node_name_)->
- create_client<dynamic_graph_bridge_msgs::srv::RunPythonFile>(
- service_name);
+ auto client =
+ dynamic_graph_bridge::get_ros_node(node_name_)
+ ->create_client<dynamic_graph_bridge_msgs::srv::RunPythonFile>(
+ service_name);
ASSERT_TRUE(client->wait_for_service(1s));
// Fill the command message.
- dynamic_graph_bridge_msgs::srv::RunPythonFile::Request::SharedPtr request =
- std::make_shared<
- dynamic_graph_bridge_msgs::srv::RunPythonFile::Request>();
+ dynamic_graph_bridge_msgs::srv::RunPythonFile::Request::SharedPtr
+ request = std::make_shared<
+ dynamic_graph_bridge_msgs::srv::RunPythonFile::Request>();
request->input = file_name;
// Call the service.
- auto response =
- client->async_send_request(request,
- std::bind(&MockSotLoader::response_dg_python,
- this,
- std::placeholders::_1));
+ auto response = client->async_send_request(
+ request, std::bind(&MockSotLoader::response_dg_python, this,
+ std::placeholders::_1));
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
- "Send request to service %s - Waiting",
- service_name.c_str());
+ "Send request to service %s - Waiting", service_name.c_str());
response.wait();
- RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
- "Get the answer");
-
+ RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"), "Get the answer");
}
- void display_services(
- std::map<std::string, std::vector<std::string> >& list_service_and_types) {
- for (std::map<std::string, std::vector<std::string> >::const_iterator
+ void display_services(std::map<std::string, std::vector<std::string>>&
+ list_service_and_types) {
+ for (std::map<std::string, std::vector<std::string>>::const_iterator
const_it = list_service_and_types.begin();
const_it != list_service_and_types.end(); ++const_it) {
std::cerr << const_it->first << "\t\t\t";
@@ -119,8 +118,7 @@ class MockSotLoaderTest : public ::testing::Test {
}
void local_ros_spin() {
- RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
- "local_ros_spin");
+ RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"), "local_ros_spin");
dynamic_graph_bridge::ros_spin();
}
@@ -137,23 +135,22 @@ class MockSotLoaderTest : public ::testing::Test {
std::string standard_error = "";
start_run_python_script_ros_service(file_name);
-
usleep(100000);
std::map<std::string, std::vector<std::string>> list_service_and_types;
- dynamic_graph_bridge::RosNodePtr ros_node = dynamic_graph_bridge::get_ros_node(node_name_);
+ dynamic_graph_bridge::RosNodePtr ros_node =
+ dynamic_graph_bridge::get_ros_node(node_name_);
bool simple_service_exists = false;
- usleep(30720000); // Wait 30s
+ usleep(30720000); // Wait 30s
RCLCPP_INFO(rclcpp::get_logger("dynamic_graph_bridge"),
"Stop Dynamic Graph ");
dynamic_graph_stopped_ = true;
}
-
void testLoadController() {
// Set input call
int argc = 2;
- char *argv[2];
+ char* argv[2];
char argv1[30] = "mocktest";
argv[0] = argv1;
char argv2[60] = "--input-file=libimpl_test_library.so";
@@ -195,19 +192,15 @@ class MockSotLoaderTest : public ::testing::Test {
};
public:
- MockSotLoader *mockSotLoader_ptr_;
+ MockSotLoader* mockSotLoader_ptr_;
// For the set of tests coded in this file.
static void SetUpTestCase() {
-
- rclcpp::init(test_sot_loader::l_argc,
- test_sot_loader::l_argv);
+ rclcpp::init(test_sot_loader::l_argc, test_sot_loader::l_argv);
}
// For each test specified in this file
- static void TearDownTestCase() {
- rclcpp::shutdown();
- }
+ static void TearDownTestCase() { rclcpp::shutdown(); }
void SetUp() {
mockSotLoader_ptr_ = new MockSotLoader();
@@ -226,13 +219,12 @@ TEST_F(MockSotLoaderTest, TestLoadController) {
mockSotLoader_ptr_->testLoadController();
}
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
test_sot_loader::l_argc = argc;
test_sot_loader::l_argv = argv;
-
int r = RUN_ALL_TESTS();
return r;
--
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