From 5ab56d1b560dfce85fb7d272e4ecb42022af32cc Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 25 Mar 2024 15:23:47 +0000 Subject: [PATCH] style(pre-commit): autofix --- .../autoware_control_center.hpp | 7 ++- .../src/autoware_control_center.cpp | 55 +++++++++---------- 2 files changed, 31 insertions(+), 31 deletions(-) diff --git a/common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp b/common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp index 7413176c..1a84eee7 100644 --- a/common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp +++ b/common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp @@ -88,9 +88,10 @@ class AutowareControlCenter : public rclcpp_lifecycle::LifecycleNode void node_reports_callback(); void liveliness_callback(rclcpp::QOSLivelinessChangedInfo & event, const std::string & node_name); - void heartbeat_callback(const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg, - const std::string & node_name); - void filter_deregister_services(std::map>& srv_list); + void heartbeat_callback( + const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg, + const std::string & node_name); + void filter_deregister_services(std::map> & srv_list); }; } // namespace autoware_control_center diff --git a/common/autoware_control_center/src/autoware_control_center.cpp b/common/autoware_control_center/src/autoware_control_center.cpp index 2957e979..1c740c4c 100644 --- a/common/autoware_control_center/src/autoware_control_center.cpp +++ b/common/autoware_control_center/src/autoware_control_center.cpp @@ -23,7 +23,6 @@ #include "autoware_control_center_msgs/srv/autoware_control_center_deregister.hpp" #include - #include using std::chrono::operator""ms; @@ -38,7 +37,7 @@ AutowareControlCenter::AutowareControlCenter(const rclcpp::NodeOptions & options RCLCPP_INFO(get_logger(), "AutowareControlCenter is initialized"); declare_parameter("lease_duration", 220); // TODO(lexavtanke): remove default and add schema std::chrono::milliseconds lease_duration_(get_parameter("lease_duration").as_int()); - + callback_group_mut_ex_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); using std::placeholders::_1; @@ -183,24 +182,23 @@ rclcpp::Subscription::SharedPtr AutowareControlCenter::create_heartbeat_sub(const std::string & node_name) { RCLCPP_INFO(get_logger(), "Create heart sub is called."); -rclcpp::QoS qos_profile_ = rclcpp::QoS(10); + rclcpp::QoS qos_profile_ = rclcpp::QoS(10); qos_profile_.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC) .liveliness_lease_duration(lease_duration_); rclcpp::SubscriptionOptions heartbeat_sub_options_; std::function bound_liveliness_callback_func = - std::bind(&AutowareControlCenter::liveliness_callback, this, std::placeholders::_1, node_name); + std::bind(&AutowareControlCenter::liveliness_callback, this, std::placeholders::_1, node_name); heartbeat_sub_options_.event_callbacks.liveliness_callback = bound_liveliness_callback_func; const std::string topic_name = node_name + "/heartbeat"; RCLCPP_INFO(get_logger(), "Topic to subscribe is %s", topic_name.c_str()); rclcpp::Subscription::SharedPtr heartbeat_sub_; - std::function bound_heartbeat_callback_func = - std::bind(&AutowareControlCenter::heartbeat_callback, this, std::placeholders::_1, node_name); + std::function + bound_heartbeat_callback_func = + std::bind(&AutowareControlCenter::heartbeat_callback, this, std::placeholders::_1, node_name); heartbeat_sub_ = create_subscription( - topic_name, qos_profile_, - bound_heartbeat_callback_func, - heartbeat_sub_options_); + topic_name, qos_profile_, bound_heartbeat_callback_func, heartbeat_sub_options_); return heartbeat_sub_; } @@ -244,30 +242,31 @@ void AutowareControlCenter::autoware_node_error( } } - -void AutowareControlCenter::liveliness_callback(rclcpp::QOSLivelinessChangedInfo & event, - const std::string & node_name) +void AutowareControlCenter::liveliness_callback( + rclcpp::QOSLivelinessChangedInfo & event, const std::string & node_name) { - RCLCPP_INFO(get_logger(), "Reader Liveliness changed event:"); - RCLCPP_INFO(get_logger(), " alive_count: %d", event.alive_count); - RCLCPP_INFO(get_logger(), " not_alive_count: %d", event.not_alive_count); - RCLCPP_INFO(get_logger(), " alive_count_change: %d", event.alive_count_change); - RCLCPP_INFO(get_logger(), " not_alive_count_change: %d", event.not_alive_count_change); - if (event.alive_count == 0) { - RCLCPP_ERROR(get_logger(), "Heartbeat was not received"); - node_status_map_[node_name].alive = false; - } + RCLCPP_INFO(get_logger(), "Reader Liveliness changed event:"); + RCLCPP_INFO(get_logger(), " alive_count: %d", event.alive_count); + RCLCPP_INFO(get_logger(), " not_alive_count: %d", event.not_alive_count); + RCLCPP_INFO(get_logger(), " alive_count_change: %d", event.alive_count_change); + RCLCPP_INFO(get_logger(), " not_alive_count_change: %d", event.not_alive_count_change); + if (event.alive_count == 0) { + RCLCPP_ERROR(get_logger(), "Heartbeat was not received"); + node_status_map_[node_name].alive = false; + } } -void AutowareControlCenter::heartbeat_callback(const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg, - const std::string & node_name) +void AutowareControlCenter::heartbeat_callback( + const typename autoware_control_center_msgs::msg::Heartbeat::SharedPtr msg, + const std::string & node_name) { - RCLCPP_INFO(get_logger(), "Watchdog raised, heartbeat sent at [%d.x]", msg->stamp.sec); - node_status_map_[node_name].alive = true; - node_status_map_[node_name].last_heartbeat = msg->stamp; - } + RCLCPP_INFO(get_logger(), "Watchdog raised, heartbeat sent at [%d.x]", msg->stamp.sec); + node_status_map_[node_name].alive = true; + node_status_map_[node_name].last_heartbeat = msg->stamp; +} -void AutowareControlCenter::filter_deregister_services(std::map>& srv_list) +void AutowareControlCenter::filter_deregister_services( + std::map> & srv_list) { auto it = srv_list.begin(); // filter out srv with type autoware_control_center_msgs/srv/AutowareControlCenterDeregister