style(pre-commit): autofix

autowarefoundation · Oct 21, 2024 · d9a495b · d9a495b
1 parent 11dbeef
commit d9a495b
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Showing 13 changed files with 72 additions and 85 deletions.
diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp
@@ -37,10 +37,8 @@ class OperationModeTransitionManager : public rclcpp::Node
 private:
   using ChangeAutowareControlAPI =
     autoware::component_interface_specs::system::ChangeAutowareControl;
-  using ChangeOperationModeAPI =
-    autoware::component_interface_specs::system::ChangeOperationMode;
-  using OperationModeStateAPI =
-    autoware::component_interface_specs::system::OperationModeState;
+  using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode;
+  using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState;
   component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control_;
   component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode_;
   component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;

diff --git a/...rol/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/...rol/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
@@ -110,8 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node
   PredictedObjects::ConstSharedPtr object_ptr_{nullptr};
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_;
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_;
-  autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
-    is_stopped_ptr_{nullptr};
+  autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{
+    nullptr};
 
   // Core
   std::unique_ptr<CollisionChecker> collision_checker_;
@@ -130,8 +130,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
   void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg);
   void onIsStopped(
-    const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
-      msg);
+    const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg);
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;

diff --git a/...ol/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/...ol/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -132,8 +132,7 @@ void PredictedPathCheckerNode::onAccel(
 }
 
 void PredictedPathCheckerNode::onIsStopped(
-  const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
-    msg)
+  const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg)
 {
   is_stopped_ptr_ = msg;
 
@@ -416,8 +415,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS
 void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle)
 {
   if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) {
-    const auto req = std::make_shared<
-      autoware::component_interface_specs::control::SetStop::Service::Request>();
+    const auto req =
+      std::make_shared<autoware::component_interface_specs::control::SetStop::Service::Request>();
     req->stop = make_stop_vehicle;
     req->request_source = "predicted_path_checker";
     is_calling_set_stop_ = true;

diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp
@@ -121,8 +121,8 @@ void MotionNode::update_pause(const State state)
 void MotionNode::change_pause(bool pause)
 {
   if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
-    const auto req = std::make_shared<
-      autoware::component_interface_specs::control::SetPause::Service::Request>();
+    const auto req =
+      std::make_shared<autoware::component_interface_specs::control::SetPause::Service::Request>();
     req->pause = pause;
     is_calling_set_pause_ = true;
     cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
@@ -135,16 +135,14 @@ void MotionNode::on_timer()
 }
 
 void MotionNode::on_is_paused(
-  const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
-    msg)
+  const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg)
 {
   is_paused_ = msg->data;
   update_state();
 }
 
 void MotionNode::on_is_start_requested(
-  const autoware::component_interface_specs::control::IsStartRequested::Message::
-    ConstSharedPtr msg)
+  const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg)
 {
   is_start_requested_ = msg->data;
   update_state();

diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp
@@ -41,8 +41,7 @@ class MotionNode : public rclcpp::Node
   Pub<autoware_ad_api::motion::State> pub_state_;
   Cli<autoware::component_interface_specs::control::SetPause> cli_set_pause_;
   Sub<autoware::component_interface_specs::control::IsPaused> sub_is_paused_;
-  Sub<autoware::component_interface_specs::control::IsStartRequested>
-    sub_is_start_requested_;
+  Sub<autoware::component_interface_specs::control::IsStartRequested> sub_is_start_requested_;
 
   enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
   State state_;
@@ -59,10 +58,10 @@ class MotionNode : public rclcpp::Node
   void change_pause(bool pause);
   void on_timer();
   void on_is_paused(
-    const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
+    const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg);
+  void on_is_start_requested(
+    const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr
       msg);
-  void on_is_start_requested(const autoware::component_interface_specs::control::
-                               IsStartRequested::Message::ConstSharedPtr msg);
   void on_accept(
     const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req,
     const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res);

diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp
@@ -50,8 +50,8 @@ uint8_t PerceptionNode::mapping(
 }
 
 void PerceptionNode::object_recognize(
-  const autoware::component_interface_specs::perception::ObjectRecognition::Message::
-    ConstSharedPtr msg)
+  const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr
+    msg)
 {
   DynamicObjectArray::Message objects;
   objects.header = msg->header;

diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp
@@ -41,10 +41,9 @@ class PerceptionNode : public rclcpp::Node
 
 private:
   Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
-  Sub<autoware::component_interface_specs::perception::ObjectRecognition>
-    sub_object_recognized_;
-  void object_recognize(const autoware::component_interface_specs::perception::
-                          ObjectRecognition::Message::ConstSharedPtr msg);
+  Sub<autoware::component_interface_specs::perception::ObjectRecognition> sub_object_recognized_;
+  void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition::
+                          Message::ConstSharedPtr msg);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
 };

diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp
@@ -41,8 +41,7 @@ class PlanningNode : public rclcpp::Node
   Pub<autoware_ad_api::planning::VelocityFactors> pub_velocity_factors_;
   Pub<autoware_ad_api::planning::SteeringFactors> pub_steering_factors_;
   Sub<autoware::component_interface_specs::planning::Trajectory> sub_trajectory_;
-  Sub<autoware::component_interface_specs::localization::KinematicState>
-    sub_kinematic_state_;
+  Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
   std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;
   std::vector<rclcpp::Subscription<SteeringFactorArray>::SharedPtr> sub_steering_factors_;
   std::vector<VelocityFactorArray::ConstSharedPtr> velocity_factors_;
@@ -51,8 +50,7 @@ class PlanningNode : public rclcpp::Node
 
   using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase;
   using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message;
-  using KinematicState =
-    autoware::component_interface_specs::localization::KinematicState::Message;
+  using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message;
   void on_trajectory(const Trajectory::ConstSharedPtr msg);
   void on_kinematic_state(const KinematicState::ConstSharedPtr msg);
   void on_timer();

diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp
@@ -33,8 +33,7 @@ class RoutingNode : public rclcpp::Node
   explicit RoutingNode(const rclcpp::NodeOptions & options);
 
 private:
-  using OperationModeState =
-    autoware::component_interface_specs::system::OperationModeState;
+  using OperationModeState = autoware::component_interface_specs::system::OperationModeState;
   using State = autoware::component_interface_specs::planning::RouteState;
   using Route = autoware::component_interface_specs::planning::LaneletRoute;
 
@@ -48,15 +47,11 @@ class RoutingNode : public rclcpp::Node
   Srv<autoware_ad_api::routing::ClearRoute> srv_clear_route_;
   Sub<autoware::component_interface_specs::planning::RouteState> sub_state_;
   Sub<autoware::component_interface_specs::planning::LaneletRoute> sub_route_;
-  Cli<autoware::component_interface_specs::planning::SetWaypointRoute>
-    cli_set_waypoint_route_;
-  Cli<autoware::component_interface_specs::planning::SetLaneletRoute>
-    cli_set_lanelet_route_;
+  Cli<autoware::component_interface_specs::planning::SetWaypointRoute> cli_set_waypoint_route_;
+  Cli<autoware::component_interface_specs::planning::SetLaneletRoute> cli_set_lanelet_route_;
   Cli<autoware::component_interface_specs::planning::ClearRoute> cli_clear_route_;
-  Cli<autoware::component_interface_specs::system::ChangeOperationMode>
-    cli_operation_mode_;
-  Sub<autoware::component_interface_specs::system::OperationModeState>
-    sub_operation_mode_;
+  Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_operation_mode_;
+  Sub<autoware::component_interface_specs::system::OperationModeState> sub_operation_mode_;
   bool is_auto_mode_;
   State::Message state_;
 

diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp
@@ -29,11 +29,9 @@ using ApiGear = autoware_adapi_v1_msgs::msg::Gear;
 using TurnIndicatorsReport =
   autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message;
 using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators;
-using HazardLightsReport =
-  autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
+using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
 using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights;
-using MapProjectorInfo =
-  autoware::component_interface_specs::map::MapProjectorInfo::Message;
+using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message;
 
 std::unordered_map<uint8_t, uint8_t> gear_type_ = {
   {GearReport::NONE, ApiGear::UNKNOWN},    {GearReport::NEUTRAL, ApiGear::NEUTRAL},
@@ -92,21 +90,22 @@ uint8_t VehicleNode::mapping(
 }
 
 void VehicleNode::kinematic_state(
-  const autoware::component_interface_specs::localization::KinematicState::Message::
-    ConstSharedPtr msg_ptr)
+  const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
+    msg_ptr)
 {
   kinematic_state_msgs_ = msg_ptr;
 }
 
 void VehicleNode::acceleration_status(
-  const autoware::component_interface_specs::localization::Acceleration::Message::
-    ConstSharedPtr msg_ptr)
+  const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
+    msg_ptr)
 {
   acceleration_msgs_ = msg_ptr;
 }
 
-void VehicleNode::steering_status(const autoware::component_interface_specs::vehicle::
-                                    SteeringStatus::Message::ConstSharedPtr msg_ptr)
+void VehicleNode::steering_status(
+  const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
+    msg_ptr)
 {
   steering_status_msgs_ = msg_ptr;
 }
@@ -126,8 +125,8 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m
   hazard_light_status_msgs_ = msg_ptr;
 }
 
-void VehicleNode::energy_status(const autoware::component_interface_specs::vehicle::
-                                  EnergyStatus::Message::ConstSharedPtr msg_ptr)
+void VehicleNode::energy_status(
+  const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr)
 {
   energy_status_msgs_ = msg_ptr;
 }

diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp
@@ -42,51 +42,57 @@ class VehicleNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
   Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
-  Sub<autoware::component_interface_specs::localization::KinematicState>
-    sub_kinematic_state_;
+  Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
   Sub<autoware::component_interface_specs::localization::Acceleration> sub_acceleration_;
   Sub<autoware::component_interface_specs::vehicle::SteeringStatus> sub_steering_;
   Sub<autoware::component_interface_specs::vehicle::GearStatus> sub_gear_state_;
-  Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus>
-    sub_turn_indicator_;
+  Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus> sub_turn_indicator_;
   Sub<autoware::component_interface_specs::vehicle::HazardLightStatus> sub_hazard_light_;
   Sub<autoware::component_interface_specs::vehicle::EnergyStatus> sub_energy_level_;
   Sub<autoware::component_interface_specs::map::MapProjectorInfo> sub_map_projector_info_;
   rclcpp::TimerBase::SharedPtr timer_;
 
-  autoware::component_interface_specs::localization::KinematicState::Message::
-    ConstSharedPtr kinematic_state_msgs_;
+  autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
+    kinematic_state_msgs_;
   autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
     acceleration_msgs_;
   autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
     steering_status_msgs_;
   autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
     gear_status_msgs_;
-  autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::
-    ConstSharedPtr turn_indicator_status_msgs_;
+  autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
+    turn_indicator_status_msgs_;
   autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
     hazard_light_status_msgs_;
   autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
     energy_status_msgs_;
   autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
     map_projector_info_;
 
-  void kinematic_state(const autoware::component_interface_specs::localization::
-                         KinematicState::Message::ConstSharedPtr msg_ptr);
-  void acceleration_status(const autoware::component_interface_specs::localization::
-                             Acceleration::Message::ConstSharedPtr msg_ptr);
-  void steering_status(const autoware::component_interface_specs::vehicle::
-                         SteeringStatus::Message::ConstSharedPtr msg_ptr);
-  void gear_status(const autoware::component_interface_specs::vehicle::GearStatus::
-                     Message::ConstSharedPtr msg_ptr);
-  void turn_indicator_status(const autoware::component_interface_specs::vehicle::
-                               TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr);
-  void map_projector_info(const autoware::component_interface_specs::map::
-                            MapProjectorInfo::Message::ConstSharedPtr msg_ptr);
-  void hazard_light_status(const autoware::component_interface_specs::vehicle::
-                             HazardLightStatus::Message::ConstSharedPtr msg_ptr);
-  void energy_status(const autoware::component_interface_specs::vehicle::EnergyStatus::
-                       Message::ConstSharedPtr msg_ptr);
+  void kinematic_state(
+    const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
+      msg_ptr);
+  void acceleration_status(
+    const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
+      msg_ptr);
+  void steering_status(
+    const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void gear_status(
+    const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void turn_indicator_status(
+    const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void map_projector_info(
+    const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
+      msg_ptr);
+  void hazard_light_status(
+    const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void energy_status(
+    const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
+      msg_ptr);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
   void publish_kinematics();

diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp
@@ -35,8 +35,7 @@ void VehicleDoorNode::on_status(
 {
   utils::notify(
     pub_status_, status_, *msg,
-    utils::ignore_stamp<
-      autoware::component_interface_specs::vehicle::DoorStatus::Message>);
+    utils::ignore_stamp<autoware::component_interface_specs::vehicle::DoorStatus::Message>);
 }
 
 }  // namespace autoware::default_adapi

diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp
@@ -34,17 +34,15 @@ class VehicleDoorNode : public rclcpp::Node
 
 private:
   void on_status(
-    autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr
-      msg);
+    autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg);
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::vehicle::DoorCommand> srv_command_;
   Srv<autoware_ad_api::vehicle::DoorLayout> srv_layout_;
   Pub<autoware_ad_api::vehicle::DoorStatus> pub_status_;
   Cli<autoware::component_interface_specs::vehicle::DoorCommand> cli_command_;
   Cli<autoware::component_interface_specs::vehicle::DoorLayout> cli_layout_;
   Sub<autoware::component_interface_specs::vehicle::DoorStatus> sub_status_;
-  std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message>
-    status_;
+  std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message> status_;
 };
 
 }  // namespace autoware::default_adapi