apply ROS 2 style

ros2 · Apr 13, 2018 · 75c29e1 · 75c29e1
1 parent f1ed133
commit 75c29e1
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Showing 6 changed files with 34 additions and 29 deletions.
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp
@@ -756,7 +756,9 @@ bool TypeSupport<MembersType>::serialize(
 }
 
 template<typename MembersType>
-bool TypeSupport<MembersType>::deserialize(eprosima::fastrtps::rtps::SerializedPayload_t * payload, void * data)
+bool TypeSupport<MembersType>::deserialize(
+  eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+  void * data)
 {
   assert(data);
   assert(payload);

diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -127,7 +127,8 @@ rmw_create_client(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  subscriberParam.historyMemoryPolicy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  subscriberParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   rcutils_ret_t ret = _assign_partitions_to_attributes(
     service_name, ros_service_response_prefix,
     qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
@@ -140,7 +141,8 @@ rmw_create_client(
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
   publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  publisherParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   ret = _assign_partitions_to_attributes(
     service_name, ros_service_requester_prefix,
     qos_policies->avoid_ros_namespace_conventions, &publisherParam);

diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -190,23 +190,24 @@ get_security_file_paths(
   std::array<std::string, 6> & security_files_paths, const char * node_secure_root)
 {
   // here assume only 6 files for security
-  const char * file_names[6] = {"ca.cert.pem", "cert.pem", "key.pem", "ca.cert.pem", "governance.p7s", "permissions.p7s"};
+  const char * file_names[6] = {
+    "ca.cert.pem", "cert.pem", "key.pem",
+    "ca.cert.pem", "governance.p7s", "permissions.p7s"
+  };
   size_t num_files = sizeof(file_names) / sizeof(char *);
 
   std::string file_prefix("file://");
 
   for (size_t i = 0; i < num_files; i++) {
     char * file_path;
-    
+
     if (i != 3) {
       file_path = rcutils_join_path(node_secure_root, file_names[i]);
-    }
-    else {
+    } else {
       const char * ros_secure_root_env = NULL;
       if (rcutils_get_env(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME, &ros_secure_root_env) == NULL) {
         file_path = rcutils_join_path(ros_secure_root_env, file_names[i]);
-      }
-      else {
+      } else {
         return false;
       }
     }
@@ -268,16 +269,6 @@ rmw_create_node(
     std::array<std::string, 6> security_files_paths;
 
     if (get_security_file_paths(security_files_paths, security_options->security_root_path)) {
-#if DEBUG
-      fprintf(stdout, "%s\n%s\n%s\n%s\n%s\n%s\n", \
-        security_files_paths[0].c_str(), \
-        security_files_paths[1].c_str(), \
-        security_files_paths[2].c_str(), \
-        security_files_paths[3].c_str(), \
-        security_files_paths[4].c_str(), \
-        security_files_paths[5].c_str());
-#endif
-
       eprosima::fastrtps::rtps::PropertyPolicy property_policy;
       using Property = eprosima::fastrtps::rtps::Property;
       property_policy.properties().emplace_back(
@@ -294,10 +285,14 @@ rmw_create_node(
       property_policy.properties().emplace_back(
         Property("dds.sec.crypto.plugin", "builtin.AES-GCM-GMAC"));
 
-      property_policy.properties().emplace_back(Property("dds.sec.access.plugin", "builtin.Access-Permissions"));
-      property_policy.properties().emplace_back(Property("dds.sec.access.builtin.Access-Permissions.permissions_ca", security_files_paths[3]));
-      property_policy.properties().emplace_back(Property("dds.sec.access.builtin.Access-Permissions.governance", security_files_paths[4]));
-      property_policy.properties().emplace_back(Property("dds.sec.access.builtin.Access-Permissions.permissions", security_files_paths[5]));      
+      property_policy.properties().emplace_back(Property(
+          "dds.sec.access.plugin", "builtin.Access-Permissions"));
+      property_policy.properties().emplace_back(Property(
+          "dds.sec.access.builtin.Access-Permissions.permissions_ca", security_files_paths[3]));
+      property_policy.properties().emplace_back(Property(
+          "dds.sec.access.builtin.Access-Permissions.governance", security_files_paths[4]));
+      property_policy.properties().emplace_back(Property(
+          "dds.sec.access.builtin.Access-Permissions.permissions", security_files_paths[5]));
 
       participantAttrs.rtps.properties = property_policy;
     } else if (security_options->enforce_security) {

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -104,11 +104,13 @@ rmw_create_publisher(
   }
 
   publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  publisherParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
   rcutils_ret_t ret = _assign_partitions_to_attributes(
-    topic_name, ros_topic_prefix, qos_policies->avoid_ros_namespace_conventions, &publisherParam);
+    topic_name, ros_topic_prefix,
+    qos_policies->avoid_ros_namespace_conventions, &publisherParam);
   if (ret != RCUTILS_RET_OK) {
     // error msg already set
     goto fail;

diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -136,7 +136,8 @@ rmw_create_service(
   }
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-  subscriberParam.historyMemoryPolicy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  subscriberParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
   rcutils_ret_t ret = _assign_partitions_to_attributes(
     service_name, ros_service_requester_prefix,
@@ -150,7 +151,8 @@ rmw_create_service(
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
   publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  publisherParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   ret = _assign_partitions_to_attributes(
     service_name, ros_service_response_prefix,
     qos_policies->avoid_ros_namespace_conventions, &publisherParam);

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -106,11 +106,13 @@ rmw_create_subscription(
     _register_type(participant, info->type_support_, info->typesupport_identifier_);
   }
 
-  subscriberParam.historyMemoryPolicy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  subscriberParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
   rcutils_ret_t ret = _assign_partitions_to_attributes(
-    topic_name, ros_topic_prefix, qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
+    topic_name, ros_topic_prefix,
+    qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
   if (ret != RCUTILS_RET_OK) {
     // error msg already set
     goto fail;