fix formatting

added NOLINT whenever both cpplint and uncrustify cannot be satisfied ament/ament_lint#158 Signed-off-by: Harsh Deshpande <[email protected]>
hsd-dev · Jun 15, 2022 · f596ebe · f596ebe
1 parent b0a6323
commit f596ebe
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Showing 3 changed files with 65 additions and 42 deletions.
diff --git a/include/ros1_bridge/action_factory.hpp b/include/ros1_bridge/action_factory.hpp
@@ -78,7 +78,8 @@ class ActionFactory_1_2 : public ActionFactoryInterface
     client_ = rclcpp_action::create_client<ROS2_T>(ros2_node, action_name);
   }
 
-  virtual void shutdown() {
+  virtual void shutdown()
+  {
     std::lock_guard<std::mutex> lock(mutex_);
     for (auto goal : goals_) {
       std::thread([handler = goal.second]() mutable {handler->cancel();}).detach();
@@ -147,7 +148,8 @@ class ActionFactory_1_2 : public ActionFactoryInterface
       std::shared_future<ROS2ClientGoalHandle> gh2_future;
       // Changes as per Dashing
       auto send_goal_ops = ROS2SendGoalOptions();
-      send_goal_ops.goal_response_callback = [this, &gh2_future](std::shared_future<ROS2GoalHandle> gh2) mutable {
+      send_goal_ops.goal_response_callback =
+        [this, &gh2_future](std::shared_future<ROS2GoalHandle> gh2) mutable {
           auto goal_handle = gh2_future.get();
           if (!goal_handle) {
             gh1_.setRejected();          // goal was not accepted by remote server
@@ -253,7 +255,8 @@ class ActionFactory_2_1 : public ActionFactoryInterface
       std::bind(&ActionFactory_2_1::handle_accepted, this, std::placeholders::_1));
   }
 
-  virtual void shutdown() {
+  virtual void shutdown()
+  {
     std::lock_guard<std::mutex> lock(mutex_);
     for (auto goal : goals_) {
       std::thread([handler = goal.second]() mutable {handler->cancel();}).detach();
@@ -391,7 +394,7 @@ class ActionFactory_2_1 : public ActionFactoryInterface
 
   std::size_t get_goal_id_hash(const rclcpp_action::GoalUUID & uuid)
   {
-    return std::hash<rclcpp_action::GoalUUID>{} (uuid);
+    return std::hash<rclcpp_action::GoalUUID>{}(uuid);
   }
 
   ros::NodeHandle ros1_node_;

diff --git a/ros1_bridge/__init__.py b/ros1_bridge/__init__.py
@@ -26,8 +26,8 @@
     from io import StringIO  # Python 3.x
 
 import genmsg
-import genmsg.msg_loader
 from genmsg.base import COMMENTCHAR, IODELIM
+import genmsg.msg_loader
 
 import rosidl_adapter.parser
 from rosidl_cmake import expand_template
@@ -408,7 +408,7 @@ def get_ros1_actions(rospack=None):
     # actual function: rosmsg.iterate_packages(rospack, rosmsg.MODE_MSG))
     pkgs = sorted(x for x in iterate_action_packages(rospack))
     for package_name, path in pkgs:
-        for action_name in rosmsg._list_types(path, 'msg', ".action"):
+        for action_name in rosmsg._list_types(path, 'msg', '.action'):
             actions.append(Message(package_name, action_name, path))
     return actions
 
@@ -447,7 +447,8 @@ def get_ros2_actions():
                     file=sys.stderr)
                 continue
             for data in content:
-                if all(n not in data for n in ('ros1_message_name', 'ros2_message_name', 'ros1_service_name', 'ros2_service_name')):
+                if (all(n not in data for n in ('ros1_message_name', 'ros2_message_name',
+                        'ros1_service_name', 'ros2_service_name'))):
                     try:
                         rules.append(ActionMappingRule(data, package_name))
                     except Exception as e:
@@ -869,7 +870,9 @@ def determine_common_actions(
                         # the check for 'builtin_interfaces' should be removed
                         # once merged with __init__.py
                         # It seems to handle it already
-                        if (ros1_type, ros2_type) not in message_string_pairs and not ros2_type.startswith("builtin_interfaces") and "GripperCommand" not in ros2_type:
+                        if ((ros1_type, ros2_type) not in message_string_pairs and
+                                not ros2_type.startswith('builtin_interfaces') and
+                                'GripperCommand' not in ros2_type):
                             match = False
                             break
                 output[direction].append({
@@ -1074,6 +1077,7 @@ def load_ros1_service(ros1_srv):
 
 
 # genmsg/actions.py
+
 class ActionSpec(object):
 
     def __init__(self, goal, result, feedback, text, full_name='', short_name='', package=''):
@@ -1109,12 +1113,11 @@ def __ne__(self, other):
         return not self.__eq__(other)
 
     def __repr__(self):
-        return "ActionSpec[%s, %s, %s]" % (repr(self.goal), repr(self.result), repr(self.feedback))
+        return 'ActionSpec[%s, %s, %s]' % (repr(self.goal), repr(self.result), repr(self.feedback))
 
 
 # genmsg.msg_loader
 
-
 def load_action_from_string(msg_context, text, full_name):
     """
     Load :class:`ActionSpec` from the .action file.
@@ -1132,15 +1135,15 @@ def load_action_from_string(msg_context, text, full_name):
     count = 0
     accum = text_goal
     for l in text.split('\n'):
-        l = l.split(COMMENTCHAR)[0].strip()  # strip comments
-        if l.startswith(IODELIM):  # lenient, by request
+        s = l.split(COMMENTCHAR)[0].strip()  # strip comments
+        if s.startswith(IODELIM):  # lenient, by request
             if count == 0:
                 accum = text_result
                 count = 1
             else:
                 accum = text_feedback
         else:
-            accum.write(l+'\n')
+            accum.write(s+'\n')
 
     # create separate MsgSpec objects for each half of file
     msg_goal = genmsg.msg_loader.load_msg_from_string(
@@ -1156,8 +1159,8 @@ def load_action_from_string(msg_context, text, full_name):
 def load_action_from_file(msg_context, file_path, full_name):
     """
     Convert the .action representation in the file to a :class:`MsgSpec` instance.
-    NOTE: this will register the message in the *msg_context*.
 
+    NOTE: this will register the message in the *msg_context*.
     :param file_path: path of file to load from, ``str``
     :returns: :class:`MsgSpec` instance
     :raises: :exc:`InvalidMsgSpec`: if syntax errors or other problems are detected in file
@@ -1177,7 +1180,8 @@ def load_ros1_action(ros1_action):
         ros1_action.prefix_path, ros1_action.message_name + '.action')
     try:
         spec = load_action_from_file(
-            msg_context, message_path, '%s/%s' % (ros1_action.package_name, ros1_action.message_name))
+            msg_context, message_path, '%s/%s' %
+            (ros1_action.package_name, ros1_action.message_name))
     except genmsg.InvalidMsgSpec:
         return None
     return spec
@@ -1245,7 +1249,7 @@ def load_ros2_action(ros2_action):
         spec = rosidl_adapter.parser.parse_action_file(
             ros2_action.package_name, actiom_path)
     except rosidl_adapter.parser.InvalidSpecification:
-        print("Invalid spec")
+        print('Invalid spec')
         return None
     return spec
 

diff --git a/src/dynamic_bridge.cpp b/src/dynamic_bridge.cpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <utility>
 #include <vector>
-#include <boost/algorithm/string/predicate.hpp>
+#include <boost/algorithm/string/predicate.hpp>   // NOLINT
 
 // include ROS 1
 #ifdef __clang__
@@ -151,8 +151,10 @@ void update_bridge(
   std::map<std::string, Bridge2to1HandlesAndMessageTypes> & bridges_2to1,
   std::map<std::string, ros1_bridge::ServiceBridge1to2> & service_bridges_1_to_2,
   std::map<std::string, ros1_bridge::ServiceBridge2to1> & service_bridges_2_to_1,
-  std::map<std::string, std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_1_to_2,
-  std::map<std::string, std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_2_to_1,
+  std::map<std::string,
+  std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_1_to_2,
+  std::map<std::string,
+  std::unique_ptr<ros1_bridge::ActionFactoryInterface>> & action_bridges_2_to_1,
   bool bridge_all_1to2_topics, bool bridge_all_2to1_topics)
 {
   std::lock_guard<std::mutex> lock(g_bridge_mutex);
@@ -574,9 +576,12 @@ inline bool is_action_topic(
     // action type is 'Fibonacci'
     if (!type.empty() && is_action_type) {
       std::string pkg_name = type.substr(0, type.find("/"));
-      std::string action_type = type.substr(type.find_last_of("/") + 1, type.length() - (type.find_last_of("/") + type_ends_with.length() + 1));
+      std::string action_type =
+        type.substr(
+        type.find_last_of("/") + 1,
+        type.length() - (type.find_last_of("/") + type_ends_with.length() + 1));
       actions[name]["package"] = pkg_name;
-      if(is_ros2) {
+      if (is_ros2) {
         actions[name]["type"] = "action/" + action_type;
       } else {
         actions[name]["type"] = action_type;
@@ -610,31 +615,34 @@ void get_active_ros1_actions(
 
   for (it = publishers.begin(); it != publishers.end(); it++) {
     // check for action client
-    if (is_action_topic(
+    if (
+      is_action_topic(
         active_ros1_action_clients, action_client_nums, false,
         it->first.c_str(), "/cancel", it->second.c_str(), "/GoalID"))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros1_action_clients, action_client_nums, true,
         it->first.c_str(), "/goal", it->second.c_str(), "ActionGoal"))
     {
       continue;
-    }
-    // check for action server
-    else if (is_action_topic(
+    } else if (   // NOLINT // check for action server
+      is_action_topic(
         active_ros1_action_servers, action_server_nums, true,
         it->first.c_str(), "/feedback", it->second.c_str(),
         "ActionFeedback"))
     {
       continue;
     }
-    if (is_action_topic(
+    if (
+      is_action_topic(
         active_ros1_action_servers, action_server_nums, false,
         it->first.c_str(), "/result", it->second.c_str(), "ActionResult"))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros1_action_servers, action_server_nums, false,
         it->first.c_str(), "/status", it->second.c_str(),
         "GoalStatusArray"))
@@ -646,29 +654,32 @@ void get_active_ros1_actions(
   // subscribers do not report their types, but use it to confirm action
   for (it = subscribers.begin(); it != subscribers.end(); it++) {
     // check for action server
-    if (is_action_topic(
+    if (
+      is_action_topic(
         active_ros1_action_servers, action_server_nums, false,
         it->first.c_str(), "/cancel", it->second.c_str(), ""))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros1_action_servers, action_server_nums, false,
         it->first.c_str(), "/goal", it->second.c_str(), ""))
     {
       continue;
-    }
-    // check for action client
-    else if (is_action_topic(
+    } else if (   // NOLINT   // check for action client
+      is_action_topic(
         active_ros1_action_clients, action_client_nums, false,
         it->first.c_str(), "/feedback", it->second.c_str(), ""))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros1_action_clients, action_client_nums, false,
         it->first.c_str(), "/result", it->second.c_str(), ""))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros1_action_clients, action_client_nums, false,
         it->first.c_str(), "/status", it->second.c_str(), ""))
     {
@@ -701,12 +712,14 @@ void get_active_ros2_actions(
   std::map<std::string, uint8_t>::iterator it_num;
   std::map<std::string, uint8_t> action_server_nums, action_client_nums;
   for (it = active_ros2_publishers.begin(); it != active_ros2_publishers.end(); it++) {
-    if (is_action_topic(
+    if (
+      is_action_topic(
         active_ros2_action_servers, action_server_nums, true, it->first.c_str(),
         "/_action/feedback", it->second.c_str(), "_FeedbackMessage", true))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros2_action_servers, action_server_nums, false,
         it->first.c_str(), "/_action/status", it->second.c_str(),
         "GoalStatusArray"), true)
@@ -715,13 +728,15 @@ void get_active_ros2_actions(
     }
   }
   for (it = active_ros2_subscribers.begin(); it != active_ros2_subscribers.end(); it++) {
-    if (is_action_topic(
+    if (
+      is_action_topic(
         active_ros2_action_clients, action_client_nums, true,
         it->first.c_str(), "/_action/feedback", it->second.c_str(),
         "_FeedbackMessage", true))
     {
       continue;
-    } else if (is_action_topic(
+    } else if (   // NOLINT
+      is_action_topic(
         active_ros2_action_clients, action_client_nums, false,
         it->first.c_str(), "/_action/status", it->second.c_str(),
         "GoalStatusArray", true))
@@ -739,7 +754,6 @@ void get_active_ros2_actions(
       active_ros2_action_servers.erase(it_num->first);
     }
   }
-
 }
 
 int main(int argc, char * argv[])
@@ -894,7 +908,8 @@ int main(int argc, char * argv[])
       }
 
       // check actions
-      std::map<std::string, std::map<std::string, std::string>> active_ros1_action_servers, active_ros1_action_clients;
+      std::map<std::string, std::map<std::string, std::string>> active_ros1_action_servers,
+        active_ros1_action_clients;
       get_active_ros1_actions(
         current_ros1_publishers, current_ros1_subscribers,
         active_ros1_action_servers, active_ros1_action_clients);
@@ -1071,7 +1086,8 @@ int main(int argc, char * argv[])
         }
       }
 
-      std::map<std::string, std::map<std::string, std::string>> active_ros2_action_servers, active_ros2_action_clients;
+      std::map<std::string, std::map<std::string, std::string>> active_ros2_action_servers,
+        active_ros2_action_clients;
       get_active_ros2_actions(
         current_ros2_publishers, current_ros2_subscribers,
         active_ros2_action_servers, active_ros2_action_clients);