fix code style

PlanSys2 · Sep 2, 2024 · 298f39e · 298f39e
1 parent 2262740
commit 298f39e
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Showing 6 changed files with 24 additions and 12 deletions.
diff --git a/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertClient.hpp b/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertClient.hpp
@@ -167,7 +167,8 @@ class DomainExpertClient : public DomainExpertInterface
   rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_predicates_client_;
   rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_functions_client_;
   rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_derived_predicates_client_;
-  rclcpp::Client<plansys2_msgs::srv::GetDomainDerivedPredicateDetails>::SharedPtr get_derived_predicate_details_client_;
+  rclcpp::Client<plansys2_msgs::srv::GetDomainDerivedPredicateDetails>::SharedPtr
+    get_derived_predicate_details_client_;
   rclcpp::Client<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_actions_client_;
   rclcpp::Client<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_durative_actions_client_;
   rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr get_predicate_details_client_;

diff --git a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp b/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp
@@ -167,7 +167,8 @@ DomainExpert::getFunction(const std::string & function)
 }
 
 std::vector<plansys2::Predicate>
-DomainExpert::getDerivedPredicates(){
+DomainExpert::getDerivedPredicates()
+{
   std::vector<plansys2::Predicate> ret;
   for (unsigned i = 0; i < domain_->derived.size(); i++) {
     plansys2_msgs::msg::Node pred;
@@ -179,7 +180,9 @@ DomainExpert::getDerivedPredicates(){
 }
 
 std::vector<plansys2_msgs::msg::Derived>
-DomainExpert::getDerivedPredicate(const std::string & predicate, const std::vector<std::string> & params){
+DomainExpert::getDerivedPredicate(
+  const std::string & predicate, const std::vector<std::string> & params)
+{
   std::vector<plansys2_msgs::msg::Derived> ret;
 
   std::string predicate_search = predicate;
@@ -194,7 +197,7 @@ DomainExpert::getDerivedPredicate(const std::string & predicate, const std::vect
       plansys2_msgs::msg::Derived derived;
       derived.predicate.name = predicate_search;
 
-      //Parameters
+      // Parameters
       for (unsigned j = 0; j < domain_->derived[i]->params.size(); j++) {
         plansys2_msgs::msg::Param param;
         param.name = "?" + domain_->types[domain_->derived[i]->params[j]]->getName() +

diff --git a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpertClient.cpp b/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpertClient.cpp
@@ -41,7 +41,8 @@ DomainExpertClient::DomainExpertClient()
     "domain_expert/get_domain_functions");
   get_derived_predicates_client_ = node_->create_client<plansys2_msgs::srv::GetStates>(
     "domain_expert/get_domain_derived_predicates");
-  get_derived_predicate_details_client_ = node_->create_client<plansys2_msgs::srv::GetDomainDerivedPredicateDetails>(
+  get_derived_predicate_details_client_ =
+    node_->create_client<plansys2_msgs::srv::GetDomainDerivedPredicateDetails>(
     "domain_expert/get_domain_derived_predicate_details");
   get_actions_client_ = node_->create_client<plansys2_msgs::srv::GetDomainActions>(
     "domain_expert/get_domain_actions");
@@ -334,7 +335,8 @@ DomainExpertClient::getDerivedPredicates()
 }
 
 std::vector<plansys2_msgs::msg::Derived>
-DomainExpertClient::getDerivedPredicate(const std::string & predicate, const std::vector<std::string> & params)
+DomainExpertClient::getDerivedPredicate(
+  const std::string & predicate, const std::vector<std::string> & params)
 {
   while (!get_derived_predicate_details_client_->wait_for_service(std::chrono::seconds(1))) {
     if (!rclcpp::ok()) {

diff --git a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpertNode.cpp b/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpertNode.cpp
@@ -96,7 +96,8 @@ DomainExpertNode::DomainExpertNode()
       &DomainExpertNode::get_domain_derived_predicates_service_callback,
       this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
-  get_domain_derived_predicate_details_service_ = create_service<plansys2_msgs::srv::GetDomainDerivedPredicateDetails>(
+  get_domain_derived_predicate_details_service_ =
+    create_service<plansys2_msgs::srv::GetDomainDerivedPredicateDetails>(
     "domain_expert/get_domain_derived_predicate_details", std::bind(
       &DomainExpertNode::get_domain_derived_predicate_details_service_callback,
       this, std::placeholders::_1, std::placeholders::_2,
@@ -453,11 +454,14 @@ DomainExpertNode::get_domain_derived_predicate_details_service_callback(
   } else {
     auto predicates = domain_expert_->getDerivedPredicate(request->predicate);
 
-    if (predicates.size()>0) {
+    if (predicates.size() > 0) {
       response->predicates = predicates;
       response->success = true;
     } else {
-      RCLCPP_WARN(get_logger(), "Requesting a non-existing derived predicate [%s]", request->predicate.c_str());
+      RCLCPP_WARN(
+        get_logger(),
+        "Requesting a non-existing derived predicate [%s]",
+        request->predicate.c_str());
       response->success = false;
       response->error_info = "Derived predicate not found";
     }

diff --git a/plansys2_domain_expert/test/unit/domain_expert_test.cpp b/plansys2_domain_expert/test/unit/domain_expert_test.cpp
@@ -302,7 +302,7 @@ TEST(domain_expert, get_derived_predicate_params)
   plansys2::DomainExpert domain_expert(domain_str);
 
   auto pred_1 = domain_expert.getDerivedPredicate("inferred-robot_at");
-  ASSERT_TRUE(pred_1.size()>0);
+  ASSERT_GT(pred_1.size(), 0);
   ASSERT_EQ(pred_1[0].predicate.name, "inferred-robot_at");
   ASSERT_EQ(pred_1[0].predicate.parameters.size(), 2);
   ASSERT_EQ(pred_1[0].predicate.parameters[0].name, "?robot0");

diff --git a/plansys2_domain_expert/test/unit/domain_reader_test.cpp b/plansys2_domain_expert/test/unit/domain_reader_test.cpp
@@ -337,8 +337,10 @@ TEST(domain_reader, derived_predicates)
 
   std::string req0_str = "(:predicates\n(robot_at leia bedroom) (person_at paco kitchen)\n)";
 
-  std::string req1_str = "(:derived (inferred-robot_localized ?r)\n(exists (?l)\n(and\n(robot_at ?r ?l)))\n)";
-  std::string req1_estr = "(:derived (inferred-robot_localized ?r)\n(exists (?l)\n(and\n(robot_at ?r ?l)))\n)";
+  std::string req1_str =
+    "(:derived (inferred-robot_localized ?r)\n(exists (?l)\n(and\n(robot_at ?r ?l)))\n)";
+  std::string req1_estr =
+    "(:derived (inferred-robot_localized ?r)\n(exists (?l)\n(and\n(robot_at ?r ?l)))\n)";
 
   auto res0 = dr.get_derived_test(req0_str);
   auto res1 = dr.get_derived_test(req1_str);