lint

include/camera/mock.hpp

@@ -64,7 +64,7 @@ class MockCamera : public CameraInterface {
     std::thread captureThread;
 
     // Get telemetry from JSON file adjacent to given image file.
-    // Ex: given path to "0003.jpg", telemetry will be looked for in 
+    // Ex: given path to "0003.jpg", telemetry will be looked for in
     // "0003.json"
     std::optional<ImageTelemetry> getTelemetryFromJsonFile(std::filesystem::path img_path);
 };

include/cv/aggregator.hpp

@@ -16,7 +16,7 @@
 
 struct CVResults {
     std::vector<DetectedTarget> detected_targets;
-    // mapping from bottle -> index into detected_targets 
+    // mapping from bottle -> index into detected_targets
     // (optional is none if we don't have a match yet)
     std::unordered_map<BottleDropIndex, std::optional<size_t>> matches;
 };

include/ticks/mission_prep.hpp

@@ -4,6 +4,8 @@
 #include <memory>
 #include <chrono>
 #include <string>
+#include <utility>
+#include <vector>
 
 #include "ticks/tick.hpp"
 #include "cv/pipeline.hpp"
@@ -25,7 +27,7 @@ class MissionPrepTick : public Tick {
 
     Tick* tick() override;
  private:
-    std::vector<std::pair<cv::Mat, BottleDropIndex>> 
+    std::vector<std::pair<cv::Mat, BottleDropIndex>>
         generateReferenceImages(std::array<Bottle, NUM_AIRDROP_BOTTLES> competitionObjectives);
 
     std::string getNotStolenRoute(const Bottle& target);

src/camera/mock.cpp

@@ -22,13 +22,13 @@ MockCamera::MockCamera(CameraConfig config) : CameraInterface(config) {
             cv::Mat img = cv::imread(dir_entry.path().string());
             // if the image is read
             if (img.data != NULL) {
-                std::optional<ImageTelemetry> telemetry = this->getTelemetryFromJsonFile(dir_entry.path());
+                std::optional<ImageTelemetry> telemetry =
+                    this->getTelemetryFromJsonFile(dir_entry.path());
 
                 ImageData img_data(
                     img,
                     0,
-                    telemetry
-                );
+                    telemetry);
                 this->mock_images.push_back(img_data);
             }
         });
@@ -126,7 +126,7 @@ std::optional<ImageTelemetry> MockCamera::getTelemetryFromJsonFile(std::filesyst
     if (!telemetry_stream.is_open()) {
         // no corresponding telemetry json found
         return {};
-    } 
+    }
     nlohmann::json json = nlohmann::json::parse(telemetry_stream, nullptr, true, true);
     return ImageTelemetry {
         .latitude_deg = json["latitude_deg"],
@@ -138,4 +138,4 @@ std::optional<ImageTelemetry> MockCamera::getTelemetryFromJsonFile(std::filesyst
         .pitch_deg = json["pitch_deg"],
         .roll_deg = json["roll_deg"],
     };
-}
+}

src/cv/aggregator.cpp

@@ -51,7 +51,8 @@ void CVAggregator::worker(ImageData image, int thread_num) {
             // newly inserted target, once we insert it after the if/else
             size_t detected_target_index = this->results->detected_targets.size();
 
-            std::optional<size_t> curr_match_idx = this->results->matches[curr_target.likely_bottle];
+            std::optional<size_t> curr_match_idx =
+                this->results->matches[curr_target.likely_bottle];
             if (!curr_match_idx.has_value()) {
                 LOG_F(INFO, "Made first match between target %ld and bottle %d",
                     detected_target_index, curr_target.likely_bottle);

src/cv/saliency.cpp

@@ -35,7 +35,7 @@ std::vector<CroppedTarget> Saliency::salience(cv::Mat image) {
     tensor = tensor.toType(c10::kFloat).div(255);
     // swap axis
     tensor = Saliency::transpose(tensor, { (2), (0), (1) });
-    
+
     // eventually add device as member of Saliency
     c10::Device device = torch::cuda::is_available() ? torch::kCUDA : torch::kCPU;
     auto tensor_cuda = tensor.to(device);
@@ -61,12 +61,12 @@ std::vector<CroppedTarget> Saliency::salience(cv::Mat image) {
     targets = extractTargets(listDetections, image);
 
     LOG_F(INFO, "saliency found %ld targets", targets.size());
-    for (auto const& target: targets) {
-        LOG_F(INFO, "\ttarget at bbox: (%d, %d, %d, %d). ismannikin: %d", 
-            target.bbox.x1, 
+    for (auto const& target : targets) {
+        LOG_F(INFO, "\ttarget at bbox: (%d, %d, %d, %d). ismannikin: %d",
+            target.bbox.x1,
             target.bbox.y1,
-            target.bbox.x2, 
-            target.bbox.y2, 
+            target.bbox.x2,
+            target.bbox.y2,
             target.isMannikin);
     }
     return targets;

src/ticks/cv_loiter.cpp

@@ -23,12 +23,12 @@ void CVLoiterTick::setStatus(Status status) {
 
 Tick* CVLoiterTick::tick() {
     // Tick is called if Search Zone coverage path is finished
-    
+
     // // print out current state of matching for debugging
     // LockPtr<CVResults> cv_results = this->state->getCV()->getResults();
     // for (const auto& match: cv_results.data->matches) {
     //     if (match.second.has_value()) {
-    //         LOG_F(INFO, "Bottle %d is matched with target at lat: %f, lon: %f", 
+    //         LOG_F(INFO, "Bottle %d is matched with target at lat: %f, lon: %f",
     //             match.first,
     //             cv_results.data->detected_targets.at(match.second.value()).coord.latitude(),
     //             cv_results.data->detected_targets.at(match.second.value()).coord.longitude()

src/ticks/mission_prep.cpp

@@ -55,9 +55,8 @@ Tick* MissionPrepTick::tick() {
 }
 
 
-std::vector<std::pair<cv::Mat, BottleDropIndex>> 
-    MissionPrepTick::generateReferenceImages(std::array<Bottle, NUM_AIRDROP_BOTTLES> competitionObjectives) {
-
+std::vector<std::pair<cv::Mat, BottleDropIndex>> MissionPrepTick::generateReferenceImages
+    (std::array<Bottle, NUM_AIRDROP_BOTTLES> competitionObjectives) {
     std::vector<std::pair<cv::Mat, BottleDropIndex>> ref_imgs;
 
     int curr_bottle_idx = BottleDropIndex::Undefined;
@@ -70,7 +69,8 @@ std::vector<std::pair<cv::Mat, BottleDropIndex>>
             continue;
         }
 
-        httplib::Client client(this->state->config.cv.not_stolen_addr, this->state->config.cv.not_stolen_port);
+        httplib::Client client(this->state->config.cv.not_stolen_addr,
+            this->state->config.cv.not_stolen_port);
         auto res = client.Get(this->getNotStolenRoute(bottle));
         // connection failed
         if (!res) {
@@ -85,9 +85,9 @@ std::vector<std::pair<cv::Mat, BottleDropIndex>>
             LOG_F(ERROR, "Got invalid response from not-stolen: %s", res->body.c_str());
             continue;
         }
-        std::vector<uint8_t> vectordata(res->body.begin(),res->body.end());
+        std::vector<uint8_t> vectordata(res->body.begin(), res->body.end());
         cv::Mat data_mat(vectordata, true);
-        cv::Mat ref_img(cv::imdecode(data_mat,1)); //put 0 if you want greyscale
+        cv::Mat ref_img(cv::imdecode(data_mat, 1));  // put 0 if you want greyscale
 
         ref_imgs.push_back({ref_img, (BottleDropIndex)curr_bottle_idx});
     }
@@ -101,7 +101,7 @@ std::string MissionPrepTick::getNotStolenRoute(const Bottle& target) {
     std::string shape_type = ODLCShapeToString(target.shape());
     std::string shape_color = ODLCColorToString(target.shapecolor());
 
-    return std::string("/generate?shape_type=") + shape_type + 
+    return std::string("/generate?shape_type=") + shape_type +
         std::string("&shape_color=") + shape_color +
         std::string("&char_type=") + char_type +
         std::string("&char_color=") + char_color;

src/utilities/datatypes.cpp

@@ -126,7 +126,7 @@ std::string ODLCColorToString(const ODLCColor& color) {
         case ODLCColor::Brown: return "BROWN";
         case ODLCColor::Orange: return "ORANGE";
         // maybe return optional nullopt here instead of defaulting to WHITE
-        // in case of an unknown color 
+        // in case of an unknown color
         default: return "WHITE";
     }
-}
+}