pre-commit: c++ clang-format

.clang-format

@@ -0,0 +1,3 @@
+BasedOnStyle: Chromium
+SortIncludes: false
+ColumnLimit: 120

.pre-commit-config.yaml

@@ -35,7 +35,7 @@ repos:
         args: [-w]
 
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.15.0
+    rev: v0.15.1
     hooks:
     -   id: ruff-check
         args: [--fix, --exit-non-zero-on-fix]
@@ -47,20 +47,20 @@ repos:
     -   id: cmake-format
     -   id: cmake-lint
 
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v21.1.8
+    hooks:
+    -   id: clang-format
+        types_or: [c++, proto]
+
 -   repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.10.0
+    rev: v0.10.1
     hooks:
     -   id: prettier-xacro
     -   id: prettier-package-xml
     -   id: ros-include-guard
     -   id: sort-package-xml
 
-    # Protobuf & gRPC
--   repo: https://github.com/bufbuild/buf
-    rev: v1.65.0
-    hooks:
-    -   id: buf-format
-
       # TODO(issue#1) Re-enable warehouse integration
       # - repo: https://github.com/macmacal/pre-commit-sqlite-dump
       #   rev: "1.0.0"

aegis_grpc/include/aegis_grpc/robot_control_service.hpp

@@ -18,110 +18,93 @@
 #include <moveit/move_group_interface/move_group_interface.h>
 #include <std_srvs/srv/trigger.hpp>
 
-
 namespace aegis_grpc {
 
-class RobotControlServiceImpl final
-    : public proto_aegis_grpc::v1::RobotControlService::Service {
-  public:
-    using GripperCommand = control_msgs::action::GripperCommand;
-    using GoalHandleGripper = rclcpp_action::ClientGoalHandle<GripperCommand>;
-
-    enum class ServoMode {
-      None,
-      JointJog,
-      TCPTwist
-    };
-
-    explicit RobotControlServiceImpl(std::shared_ptr<rclcpp::Node> node);
-
-    // TODO(issue#87) Create additional methods to enable and disable servo control.
-    grpc::Status ServoEnable(
-        grpc::ServerContext* context,
-        const google::protobuf::Empty* request,
-        proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-    grpc::Status ServoDisable(
-        grpc::ServerContext* context,
-        const google::protobuf::Empty* request,
-        proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-    grpc::Status ServoJoint(
-        grpc::ServerContext* context,
-        const proto_aegis_grpc::v1::JointJog* request,
-        google::protobuf::Empty* response) override;
-
-    grpc::Status ServoTCP(
-        grpc::ServerContext* context,
-        const proto_aegis_grpc::v1::Twist* request,
-        google::protobuf::Empty* response) override;
-
-    grpc::Status GotoPose(
-        grpc::ServerContext* context,
-        const proto_aegis_grpc::v1::Pose* request,
-        proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-    grpc::Status GotoJoints(
-        grpc::ServerContext* context,
-        const proto_aegis_grpc::v1::JointState* request,
-        proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-    grpc::Status GripperSetPosition(
-      grpc::ServerContext* context,
-      const proto_aegis_grpc::v1::GripperSetPositionRequest* request,
-      proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-    grpc::Status GripperClose(
-        grpc::ServerContext* context,
-        const google::protobuf::Empty* request,
-        proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-    grpc::Status GripperOpen(
-        grpc::ServerContext* context,
-        const google::protobuf::Empty* request,
-        proto_aegis_grpc::v1::TriggerResponse* response) override;
-
-  private:
-    bool SwitchControllers(
-        const std::vector<std::string>& activate,
-        const std::vector<std::string>& deactivate);
-    bool CallServoStartService();
-    bool CallServoStopService();
-
-    void ServoPublishLoop();
-    void GripperSendGoal(double position, double max_effort);
-
-    rclcpp::Logger get_logger() const;
-
-    template <class T>
-    void DeclareROSParameter(const std::string& name, const T& default_val, const std::string& description);
-
-    std::shared_ptr<rclcpp::Node> node_;
-    std::unique_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
-
-    rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr switch_controller_client_;
-    rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr start_servo_client_;
-    rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr stop_servo_client_;
-    rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr servo_joint_pub_;
-    rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr servo_tcp_pub_;
-    rclcpp_action::Client<GripperCommand>::SharedPtr gripper_client_;
-    rclcpp::TimerBase::SharedPtr servo_pub_timer_;
-
-    std::mutex servo_mutex_;
-    ServoMode servo_mode_;
-    std::string servo_tcp_link_;
-    control_msgs::msg::JointJog servo_joint_msg_;
-    geometry_msgs::msg::Twist servo_tcp_msg_;
-    int servo_frequency_ratio_;
-    int servo_msgs_left_;
-
-    std::mutex gripper_mutex_;
-    std::atomic<bool> gripper_in_use_;
-    std::chrono::duration<double> action_timeout_;
-    std::string gripper_cmd_msg_;
-    bool gripper_cmd_success_;
-    std::atomic<bool> gripper_cmd_done_;
+class RobotControlServiceImpl final : public proto_aegis_grpc::v1::RobotControlService::Service {
+ public:
+  using GripperCommand = control_msgs::action::GripperCommand;
+  using GoalHandleGripper = rclcpp_action::ClientGoalHandle<GripperCommand>;
+
+  enum class ServoMode { None, JointJog, TCPTwist };
+
+  explicit RobotControlServiceImpl(std::shared_ptr<rclcpp::Node> node);
+
+  // TODO(issue#87) Create additional methods to enable and disable servo control.
+  grpc::Status ServoEnable(grpc::ServerContext* context,
+                           const google::protobuf::Empty* request,
+                           proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+  grpc::Status ServoDisable(grpc::ServerContext* context,
+                            const google::protobuf::Empty* request,
+                            proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+  grpc::Status ServoJoint(grpc::ServerContext* context,
+                          const proto_aegis_grpc::v1::JointJog* request,
+                          google::protobuf::Empty* response) override;
+
+  grpc::Status ServoTCP(grpc::ServerContext* context,
+                        const proto_aegis_grpc::v1::Twist* request,
+                        google::protobuf::Empty* response) override;
+
+  grpc::Status GotoPose(grpc::ServerContext* context,
+                        const proto_aegis_grpc::v1::Pose* request,
+                        proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+  grpc::Status GotoJoints(grpc::ServerContext* context,
+                          const proto_aegis_grpc::v1::JointState* request,
+                          proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+  grpc::Status GripperSetPosition(grpc::ServerContext* context,
+                                  const proto_aegis_grpc::v1::GripperSetPositionRequest* request,
+                                  proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+  grpc::Status GripperClose(grpc::ServerContext* context,
+                            const google::protobuf::Empty* request,
+                            proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+  grpc::Status GripperOpen(grpc::ServerContext* context,
+                           const google::protobuf::Empty* request,
+                           proto_aegis_grpc::v1::TriggerResponse* response) override;
+
+ private:
+  bool SwitchControllers(const std::vector<std::string>& activate, const std::vector<std::string>& deactivate);
+  bool CallServoStartService();
+  bool CallServoStopService();
+
+  void ServoPublishLoop();
+  void GripperSendGoal(double position, double max_effort);
+
+  rclcpp::Logger get_logger() const;
+
+  template <class T>
+  void DeclareROSParameter(const std::string& name, const T& default_val, const std::string& description);
+
+  std::shared_ptr<rclcpp::Node> node_;
+  std::unique_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
+
+  rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr switch_controller_client_;
+  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr start_servo_client_;
+  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr stop_servo_client_;
+  rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr servo_joint_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr servo_tcp_pub_;
+  rclcpp_action::Client<GripperCommand>::SharedPtr gripper_client_;
+  rclcpp::TimerBase::SharedPtr servo_pub_timer_;
+
+  std::mutex servo_mutex_;
+  ServoMode servo_mode_;
+  std::string servo_tcp_link_;
+  control_msgs::msg::JointJog servo_joint_msg_;
+  geometry_msgs::msg::Twist servo_tcp_msg_;
+  int servo_frequency_ratio_;
+  int servo_msgs_left_;
+
+  std::mutex gripper_mutex_;
+  std::atomic<bool> gripper_in_use_;
+  std::chrono::duration<double> action_timeout_;
+  std::string gripper_cmd_msg_;
+  bool gripper_cmd_success_;
+  std::atomic<bool> gripper_cmd_done_;
 };
 
-} // namespace aegis_grpc
+}  // namespace aegis_grpc
 #endif  // AEGIS_GRPC__ROBOT_CONTROL_SERVICE_HPP_