refactor: enhance code formatting and readability across multiple files

Author: Woojin-Crive

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -364,7 +364,7 @@ class DynamixelHardware : public
     size_t inner_size,
     std::vector<HandlerVarType> & outer_handlers,
     const std::vector<HandlerVarType> & inner_handlers,
-    double **matrix,
+    double ** matrix,
     const std::unordered_map<std::string, std::vector<std::string>> & iface_map,
     const std::string & conversion_iface = "",
     const std::string & conversion_name = "",

src/dynamixel/dynamixel.cpp

@@ -919,10 +919,10 @@ DxlError Dynamixel::SetBulkReadItemAndHandler()
     }
     // Call AddDirectRead once per id
     if (AddDirectRead(
-          it_read_data.id,
-          group_item_names,
-          min_addr,
-          total_size) != DxlError::OK)
+        it_read_data.id,
+        group_item_names,
+        min_addr,
+        total_size) != DxlError::OK)
     {
       fprintf(stderr, "Cannot set the BulkRead handler.\n");
       return DxlError::BULK_READ_FAIL;
@@ -951,13 +951,13 @@ DxlError Dynamixel::SetBulkReadItemAndHandler()
           stderr, "[ID:%03d] Add Indirect Address Read Item : [%s]\n",
           it_read_data.id,
           it_read_data.item_name.at(item_index).c_str());
-      } else if(result == DxlError::SET_BULK_READ_FAIL) {
+      } else if (result == DxlError::SET_BULK_READ_FAIL) {
         fprintf(
           stderr, "[ID:%03d] Failed to Indirect Address Read Item : [%s], %d\n",
           it_read_data.id,
           it_read_data.item_name.at(item_index).c_str(),
           result);
-      } else if(result == DxlError::CANNOT_FIND_CONTROL_ITEM) {
+      } else if (result == DxlError::CANNOT_FIND_CONTROL_ITEM) {
         fprintf(
           stderr, "[ID:%03d] 'Indirect Address Read' is not defined in control table, "
           "Cannot set Indirect Address Read for : [%s]\n",
@@ -1020,10 +1020,12 @@ DxlError Dynamixel::AddDirectRead(
   uint8_t id, std::string item_name, uint16_t item_addr, uint8_t item_size)
 {
   if (group_bulk_read_->addParam(id, item_addr, item_size) == true) {
-    fprintf(stderr, "[ID:%03d] Add BulkRead item : [%s][%d][%d]\n",
+    fprintf(
+      stderr, "[ID:%03d] Add BulkRead item : [%s][%d][%d]\n",
       id, item_name.c_str(), item_addr, item_size);
   } else {
-    fprintf(stderr, "[ID:%03d] Failed to BulkRead item : [%s][%d][%d]\n",
+    fprintf(
+      stderr, "[ID:%03d] Failed to BulkRead item : [%s][%d][%d]\n",
       id, item_name.c_str(), item_addr, item_size);
     return DxlError::SET_BULK_READ_FAIL;
   }
@@ -1391,17 +1393,19 @@ DxlError Dynamixel::SetBulkWriteItemAndHandler()
     // Check for gaps between items
     std::vector<std::pair<uint16_t, uint16_t>> addr_ranges;
     for (size_t item_index = 0; item_index < it_write_data.item_addr.size(); ++item_index) {
-      addr_ranges.push_back({
+      addr_ranges.push_back(
+        {
           it_write_data.item_addr[item_index],
           it_write_data.item_addr[item_index] + it_write_data.item_size[item_index]
-      });
+        });
     }
     std::sort(addr_ranges.begin(), addr_ranges.end());
 
     for (size_t i = 0; i < addr_ranges.size() - 1; ++i) {
       if (addr_ranges[i].second != addr_ranges[i + 1].first) {
-        fprintf(stderr, "[ID:%03d] Error: Gap detected between items at addresses %d and %d\n",
-                it_write_data.id, addr_ranges[i].second, addr_ranges[i + 1].first);
+        fprintf(
+          stderr, "[ID:%03d] Error: Gap detected between items at addresses %d and %d\n",
+          it_write_data.id, addr_ranges[i].second, addr_ranges[i + 1].first);
         return DxlError::BULK_WRITE_FAIL;
       }
     }

src/dynamixel_hardware_interface.cpp

@@ -394,9 +394,10 @@ DynamixelHardware::export_command_interfaces()
     for (auto it : hdl_gpio_controller_commands_) {
       for (size_t i = 0; i < it.value_ptr_vec.size(); i++) {
         if (i >= it.interface_name_vec.size()) {
-          RCLCPP_ERROR_STREAM(logger_, "Interface name vector size mismatch for gpio controller " <<
-            it.name << ". Expected size: " << it.value_ptr_vec.size() <<
-            ", Actual size: " << it.interface_name_vec.size());
+          RCLCPP_ERROR_STREAM(
+            logger_, "Interface name vector size mismatch for gpio controller " <<
+              it.name << ". Expected size: " << it.value_ptr_vec.size() <<
+              ", Actual size: " << it.interface_name_vec.size());
           continue;
         }
         command_interfaces.emplace_back(
@@ -975,7 +976,7 @@ void DynamixelHardware::MapInterfaces(
   size_t inner_size,
   std::vector<HandlerVarType> & outer_handlers,
   const std::vector<HandlerVarType> & inner_handlers,
-  double **matrix,
+  double ** matrix,
   const std::unordered_map<std::string, std::vector<std::string>> & iface_map,
   const std::string & conversion_iface,
   const std::string & conversion_name,
@@ -1030,7 +1031,7 @@ void DynamixelHardware::CalcTransmissionToJoint()
 {
   std::function<double(double)> conv = use_revolute_to_prismatic_ ?
     std::function<double(double)>(
-        std::bind(&DynamixelHardware::revoluteToPrismatic, this, std::placeholders::_1)) :
+    std::bind(&DynamixelHardware::revoluteToPrismatic, this, std::placeholders::_1)) :
     std::function<double(double)>();
   this->MapInterfaces(
     num_of_joints_,
@@ -1049,7 +1050,7 @@ void DynamixelHardware::CalcJointToTransmission()
 {
   std::function<double(double)> conv = use_revolute_to_prismatic_ ?
     std::function<double(double)>(
-        std::bind(&DynamixelHardware::prismaticToRevolute, this, std::placeholders::_1)) :
+    std::bind(&DynamixelHardware::prismaticToRevolute, this, std::placeholders::_1)) :
     std::function<double(double)>();
   this->MapInterfaces(
     num_of_transmissions_,
@@ -1076,8 +1077,9 @@ void DynamixelHardware::SyncJointCommandWithStates()
           it_commands.interface_name_vec.end(),
           pos_cmd_name);
         if (cmd_it == it_commands.interface_name_vec.end()) {
-          RCLCPP_WARN_STREAM(logger_,
-              "No position interface found in command interfaces for joint '" <<
+          RCLCPP_WARN_STREAM(
+            logger_,
+            "No position interface found in command interfaces for joint '" <<
               it_commands.name << "'. Skipping sync!");
           continue;
         }
@@ -1088,8 +1090,9 @@ void DynamixelHardware::SyncJointCommandWithStates()
           it_states.interface_name_vec.end(),
           pos_cmd_name);
         if (state_it == it_states.interface_name_vec.end()) {
-          RCLCPP_WARN_STREAM(logger_,
-              "No position interface found in state interfaces for joint '" <<
+          RCLCPP_WARN_STREAM(
+            logger_,
+            "No position interface found in state interfaces for joint '" <<
               it_states.name << "'. Skipping sync!");
           continue;
         }