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Merge pull request #101 from AGH-CEAI/feature/clang-format
pre-commit: c++ clang-format
2 parents c328729 + 76b0e91 commit 7c30975

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-607
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8 files changed

+498
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‎.clang-format‎

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BasedOnStyle: Chromium
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SortIncludes: false
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ColumnLimit: 120

‎.pre-commit-config.yaml‎

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args: [-w]
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.15.0
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rev: v0.15.1
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hooks:
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- id: ruff-check
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args: [--fix, --exit-non-zero-on-fix]
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- id: cmake-format
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- id: cmake-lint
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v21.1.8
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hooks:
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- id: clang-format
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types_or: [c++, proto]
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.10.0
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rev: v0.10.1
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hooks:
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- id: prettier-xacro
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- id: prettier-package-xml
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- id: ros-include-guard
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- id: sort-package-xml
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# Protobuf & gRPC
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- repo: https://github.com/bufbuild/buf
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rev: v1.65.0
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hooks:
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- id: buf-format
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# TODO(issue#1) Re-enable warehouse integration
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# - repo: https://github.com/macmacal/pre-commit-sqlite-dump
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# rev: "1.0.0"

‎aegis_grpc/include/aegis_grpc/robot_control_service.hpp‎

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#include <moveit/move_group_interface/move_group_interface.h>
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#include <std_srvs/srv/trigger.hpp>
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namespace aegis_grpc {
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class RobotControlServiceImpl final
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: public proto_aegis_grpc::v1::RobotControlService::Service {
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public:
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using GripperCommand = control_msgs::action::GripperCommand;
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using GoalHandleGripper = rclcpp_action::ClientGoalHandle<GripperCommand>;
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enum class ServoMode {
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None,
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JointJog,
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TCPTwist
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};
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explicit RobotControlServiceImpl(std::shared_ptr<rclcpp::Node> node);
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// TODO(issue#87) Create additional methods to enable and disable servo control.
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grpc::Status ServoEnable(
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grpc::ServerContext* context,
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const google::protobuf::Empty* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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grpc::Status ServoDisable(
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grpc::ServerContext* context,
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const google::protobuf::Empty* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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grpc::Status ServoJoint(
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grpc::ServerContext* context,
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const proto_aegis_grpc::v1::JointJog* request,
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google::protobuf::Empty* response) override;
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grpc::Status ServoTCP(
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grpc::ServerContext* context,
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const proto_aegis_grpc::v1::Twist* request,
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google::protobuf::Empty* response) override;
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grpc::Status GotoPose(
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grpc::ServerContext* context,
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const proto_aegis_grpc::v1::Pose* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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grpc::Status GotoJoints(
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grpc::ServerContext* context,
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const proto_aegis_grpc::v1::JointState* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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grpc::Status GripperSetPosition(
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grpc::ServerContext* context,
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const proto_aegis_grpc::v1::GripperSetPositionRequest* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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grpc::Status GripperClose(
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grpc::ServerContext* context,
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const google::protobuf::Empty* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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grpc::Status GripperOpen(
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grpc::ServerContext* context,
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const google::protobuf::Empty* request,
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proto_aegis_grpc::v1::TriggerResponse* response) override;
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private:
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bool SwitchControllers(
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const std::vector<std::string>& activate,
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const std::vector<std::string>& deactivate);
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bool CallServoStartService();
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bool CallServoStopService();
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void ServoPublishLoop();
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void GripperSendGoal(double position, double max_effort);
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rclcpp::Logger get_logger() const;
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template <class T>
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void DeclareROSParameter(const std::string& name, const T& default_val, const std::string& description);
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std::shared_ptr<rclcpp::Node> node_;
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std::unique_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
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rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr switch_controller_client_;
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rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr start_servo_client_;
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rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr stop_servo_client_;
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rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr servo_joint_pub_;
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rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr servo_tcp_pub_;
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rclcpp_action::Client<GripperCommand>::SharedPtr gripper_client_;
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rclcpp::TimerBase::SharedPtr servo_pub_timer_;
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std::mutex servo_mutex_;
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ServoMode servo_mode_;
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std::string servo_tcp_link_;
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control_msgs::msg::JointJog servo_joint_msg_;
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geometry_msgs::msg::Twist servo_tcp_msg_;
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int servo_frequency_ratio_;
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int servo_msgs_left_;
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std::mutex gripper_mutex_;
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std::atomic<bool> gripper_in_use_;
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std::chrono::duration<double> action_timeout_;
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std::string gripper_cmd_msg_;
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bool gripper_cmd_success_;
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std::atomic<bool> gripper_cmd_done_;
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class RobotControlServiceImpl final : public proto_aegis_grpc::v1::RobotControlService::Service {
24+
public:
25+
using GripperCommand = control_msgs::action::GripperCommand;
26+
using GoalHandleGripper = rclcpp_action::ClientGoalHandle<GripperCommand>;
27+
28+
enum class ServoMode { None, JointJog, TCPTwist };
29+
30+
explicit RobotControlServiceImpl(std::shared_ptr<rclcpp::Node> node);
31+
32+
// TODO(issue#87) Create additional methods to enable and disable servo control.
33+
grpc::Status ServoEnable(grpc::ServerContext* context,
34+
const google::protobuf::Empty* request,
35+
proto_aegis_grpc::v1::TriggerResponse* response) override;
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37+
grpc::Status ServoDisable(grpc::ServerContext* context,
38+
const google::protobuf::Empty* request,
39+
proto_aegis_grpc::v1::TriggerResponse* response) override;
40+
41+
grpc::Status ServoJoint(grpc::ServerContext* context,
42+
const proto_aegis_grpc::v1::JointJog* request,
43+
google::protobuf::Empty* response) override;
44+
45+
grpc::Status ServoTCP(grpc::ServerContext* context,
46+
const proto_aegis_grpc::v1::Twist* request,
47+
google::protobuf::Empty* response) override;
48+
49+
grpc::Status GotoPose(grpc::ServerContext* context,
50+
const proto_aegis_grpc::v1::Pose* request,
51+
proto_aegis_grpc::v1::TriggerResponse* response) override;
52+
53+
grpc::Status GotoJoints(grpc::ServerContext* context,
54+
const proto_aegis_grpc::v1::JointState* request,
55+
proto_aegis_grpc::v1::TriggerResponse* response) override;
56+
57+
grpc::Status GripperSetPosition(grpc::ServerContext* context,
58+
const proto_aegis_grpc::v1::GripperSetPositionRequest* request,
59+
proto_aegis_grpc::v1::TriggerResponse* response) override;
60+
61+
grpc::Status GripperClose(grpc::ServerContext* context,
62+
const google::protobuf::Empty* request,
63+
proto_aegis_grpc::v1::TriggerResponse* response) override;
64+
65+
grpc::Status GripperOpen(grpc::ServerContext* context,
66+
const google::protobuf::Empty* request,
67+
proto_aegis_grpc::v1::TriggerResponse* response) override;
68+
69+
private:
70+
bool SwitchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate);
71+
bool CallServoStartService();
72+
bool CallServoStopService();
73+
74+
void ServoPublishLoop();
75+
void GripperSendGoal(double position, double max_effort);
76+
77+
rclcpp::Logger get_logger() const;
78+
79+
template <class T>
80+
void DeclareROSParameter(const std::string& name, const T& default_val, const std::string& description);
81+
82+
std::shared_ptr<rclcpp::Node> node_;
83+
std::unique_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
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85+
rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr switch_controller_client_;
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rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr start_servo_client_;
87+
rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr stop_servo_client_;
88+
rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr servo_joint_pub_;
89+
rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr servo_tcp_pub_;
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rclcpp_action::Client<GripperCommand>::SharedPtr gripper_client_;
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rclcpp::TimerBase::SharedPtr servo_pub_timer_;
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93+
std::mutex servo_mutex_;
94+
ServoMode servo_mode_;
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std::string servo_tcp_link_;
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control_msgs::msg::JointJog servo_joint_msg_;
97+
geometry_msgs::msg::Twist servo_tcp_msg_;
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int servo_frequency_ratio_;
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int servo_msgs_left_;
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101+
std::mutex gripper_mutex_;
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std::atomic<bool> gripper_in_use_;
103+
std::chrono::duration<double> action_timeout_;
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std::string gripper_cmd_msg_;
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bool gripper_cmd_success_;
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std::atomic<bool> gripper_cmd_done_;
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};
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} // namespace aegis_grpc
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} // namespace aegis_grpc
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#endif // AEGIS_GRPC__ROBOT_CONTROL_SERVICE_HPP_

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