fix clang-tidy warnings

Signed-off-by: Alexey Panferov <[email protected]>
autowarefoundation · Apr 17, 2024 · 1d9eddf · 1d9eddf
1 parent d834855
commit 1d9eddf
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Showing 3 changed files with 16 additions and 19 deletions.
diff --git a/common/autoware_control_center/test/test_autoware_control_center.cpp b/common/autoware_control_center/test/test_autoware_control_center.cpp
@@ -48,7 +48,7 @@ TEST_F(AutowareControlCenterTest, RegisterNode)
   auto client = autoware_control_center_
                   ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
                     "/autoware_control_center/srv/autoware_node_register");
-  if (!client->wait_for_service(20s)) {
+  if (!client->wait_for_service(std::chrono::seconds(20))) {
     ASSERT_TRUE(false) << "Node register service not available after waiting";
   }
 
@@ -58,7 +58,7 @@ TEST_F(AutowareControlCenterTest, RegisterNode)
 
   auto result = client->async_send_request(request);
   auto ret = rclcpp::spin_until_future_complete(
-    autoware_control_center_, result, 5s);  // Wait for the result.
+    autoware_control_center_, result, std::chrono::seconds(5));  // Wait for the result.
 
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
 
@@ -72,7 +72,7 @@ TEST_F(AutowareControlCenterTest, DeregisterNode)
                       ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
                         "/autoware_control_center/srv/autoware_node_register");
 
-  if (!client_reg->wait_for_service(20s)) {
+  if (!client_reg->wait_for_service(std::chrono::seconds(20))) {
     ASSERT_TRUE(false) << "Node register service not available after waiting";
   }
   // Register node first
@@ -82,7 +82,7 @@ TEST_F(AutowareControlCenterTest, DeregisterNode)
 
   auto result_reg = client_reg->async_send_request(request_reg);
   auto ret = rclcpp::spin_until_future_complete(
-    autoware_control_center_, result_reg, 5s);  // Wait for the result.
+    autoware_control_center_, result_reg, std::chrono::seconds(5));  // Wait for the result.
 
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
   auto result_reg_payload = result_reg.get();
@@ -94,7 +94,7 @@ TEST_F(AutowareControlCenterTest, DeregisterNode)
   auto client_dereg = autoware_control_center_
                         ->create_client<autoware_control_center_msgs::srv::AutowareNodeDeregister>(
                           "/autoware_control_center/srv/autoware_node_deregister");
-  if (!client_dereg->wait_for_service(20s)) {
+  if (!client_dereg->wait_for_service(std::chrono::seconds(20))) {
     ASSERT_TRUE(false) << "Node deregister service not available after waiting";
   }
 
@@ -118,7 +118,7 @@ TEST_F(AutowareControlCenterTest, NodeErrorServiceNotRegistered)
     autoware_control_center_->create_client<autoware_control_center_msgs::srv::AutowareNodeError>(
       "/autoware_control_center/srv/autoware_node_error");
 
-  if (!client->wait_for_service(20s)) {
+  if (!client->wait_for_service(std::chrono::seconds(20))) {
     ASSERT_TRUE(false) << "Node error service not available after waiting";
   }
 
@@ -131,7 +131,7 @@ TEST_F(AutowareControlCenterTest, NodeErrorServiceNotRegistered)
   error_request->message = "test message";
 
   auto result_error = client->async_send_request(error_request);
-  auto ret = rclcpp::spin_until_future_complete(autoware_control_center_, result_error, 5s);
+  auto ret = rclcpp::spin_until_future_complete(autoware_control_center_, result_error, std::chrono::seconds(5));
 
   ASSERT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
   auto result_error_payload = result_error.get();
@@ -149,7 +149,7 @@ TEST_F(AutowareControlCenterTest, NodeErrorService)
                       ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
                         "/autoware_control_center/srv/autoware_node_register");
 
-  if (!client_reg->wait_for_service(20s)) {
+  if (!client_reg->wait_for_service(std::chrono::seconds(20))) {
     ASSERT_TRUE(false) << "Node register service not available after waiting";
   }
   // Register node first
@@ -159,7 +159,7 @@ TEST_F(AutowareControlCenterTest, NodeErrorService)
 
   auto result_reg = client_reg->async_send_request(request_reg);
   auto ret_reg = rclcpp::spin_until_future_complete(
-    autoware_control_center_, result_reg, 5s);  // Wait for the result.
+    autoware_control_center_, result_reg, std::chrono::seconds(5));  // Wait for the result.
 
   ASSERT_EQ(ret_reg, rclcpp::FutureReturnCode::SUCCESS);
   auto result_reg_payload = result_reg.get();
@@ -170,7 +170,7 @@ TEST_F(AutowareControlCenterTest, NodeErrorService)
     autoware_control_center_->create_client<autoware_control_center_msgs::srv::AutowareNodeError>(
       "/autoware_control_center/srv/autoware_node_error");
 
-  if (!error_client->wait_for_service(20s)) {
+  if (!error_client->wait_for_service(std::chrono::seconds(20))) {
     ASSERT_TRUE(false) << "Node error service not available after waiting";
   }
 
@@ -183,7 +183,7 @@ TEST_F(AutowareControlCenterTest, NodeErrorService)
   error_request->message = "test message";
 
   auto result_error = error_client->async_send_request(error_request);
-  auto ret_err = rclcpp::spin_until_future_complete(autoware_control_center_, result_error, 5s);
+  auto ret_err = rclcpp::spin_until_future_complete(autoware_control_center_, result_error, std::chrono::seconds(5));
 
   ASSERT_EQ(ret_err, rclcpp::FutureReturnCode::SUCCESS);
   auto result_error_payload = result_error.get();

diff --git a/common/autoware_node/src/autoware_node.cpp b/common/autoware_node/src/autoware_node.cpp
@@ -22,10 +22,7 @@
 
 #include <chrono>
 
-using std::chrono::operator""ms;
-
-constexpr std::chrono::milliseconds lease_delta =
-  20ms;  ///< Buffer added to heartbeat to define lease.
+constexpr std::chrono::milliseconds lease_delta(20);  ///< Buffer added to heartbeat to define lease.
 
 namespace autoware_node
 {

diff --git a/common/test_node/src/test_pub.cpp b/common/test_node/src/test_pub.cpp
@@ -27,11 +27,11 @@
 class MinimalPublisher : public rclcpp::Node
 {
 public:
-  MinimalPublisher() : Node("minimal_publisher"), count_{0}
+  MinimalPublisher() : Node("minimal_publisher")
   {
     rclcpp::QoS qos_profile(10);
-    declare_parameter<int>("hz", 10);
-    const auto hz = get_parameter("hz").as_int();
+    declare_parameter<double>("hz", 10.0);
+    const double hz = get_parameter("hz").as_double();
     std::chrono::milliseconds timer_period{static_cast<int>(1.0 / hz * 1000)};
     std::chrono::milliseconds lease_duration{static_cast<int>(1.0 / hz * 1000 * 1.1)};
     qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
@@ -52,7 +52,7 @@ class MinimalPublisher : public rclcpp::Node
   }
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
-  size_t count_;
+  size_t count_ = 0;
 };
 
 int main(int argc, char * argv[])