refactor: Improve code readability by standardizing formatting and spacing in Dynamixel header and source files

Author: Woojin-Crive

include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp

@@ -213,7 +213,7 @@ class Dynamixel
 
   DxlError ReadDxlModelFile(uint8_t id, uint16_t model_num);
   DxlError ReadDxlModelFile(uint8_t id, uint16_t model_num, uint8_t firmware_version);
-  DxlError ReadFirmwareVersion(uint8_t id, uint8_t& firmware_version);
+  DxlError ReadFirmwareVersion(uint8_t id, uint8_t & firmware_version);
 
   void SetCommId(uint8_t id, uint8_t comm_id) {comm_id_[id] = comm_id;}
 

include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

@@ -63,10 +63,14 @@ class DynamixelInfo
   std::string dxl_model_file_dir;
 
   // Firmware version-aware model file selection
-  std::string SelectModelFileByFirmwareVersion(const std::string& base_model_name, uint8_t firmware_version);
-  bool IsFirmwareSpecificModelFile(const std::string& filename);
-  uint8_t ExtractFirmwareVersionFromFilename(const std::string& filename);
-  bool ShouldUseFirmwareSpecificModel(uint8_t device_firmware_version, uint8_t model_firmware_version);
+  std::string SelectModelFileByFirmwareVersion(
+    const std::string & base_model_name,
+    uint8_t firmware_version);
+  bool IsFirmwareSpecificModelFile(const std::string & filename);
+  uint8_t ExtractFirmwareVersionFromFilename(const std::string & filename);
+  bool ShouldUseFirmwareSpecificModel(
+    uint8_t device_firmware_version,
+    uint8_t model_firmware_version);
 
 public:
   // Id, Control table

scripts/check_model_file_formatting.py

@@ -1,4 +1,22 @@
 #!/usr/bin/env python3
+#
+# Copyright 2025 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the 'License');
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an 'AS IS' BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Woojin Wie
+
+
 """
 Script to check formatting of Dynamixel model files.
 
@@ -15,10 +33,10 @@
     --verbose  Show detailed information about each file
 """
 
+import argparse
 import os
 import sys
-import argparse
-import re
+
 
 def check_file_formatting(file_path, fix=False, verbose=False):
     """
@@ -36,19 +54,19 @@ def check_file_formatting(file_path, fix=False, verbose=False):
         'trailing_spaces': [],
         'no_eof_newline': False,
         'empty_lines_at_end': 0,
-        'fixed': []
+        'fixed': [],
     }
 
     try:
         with open(file_path, 'r', encoding='utf-8') as f:
             lines = f.readlines()
     except Exception as e:
-        print(f"Error reading {file_path}: {e}")
+        print(f'Error reading {file_path}: {e}')
         return issues
 
     if not lines:
         if verbose:
-            print(f"  {file_path}: Empty file")
+            print(f'  {file_path}: Empty file')
         return issues
 
     # Check for trailing spaces
@@ -74,68 +92,80 @@ def check_file_formatting(file_path, fix=False, verbose=False):
         issues['empty_lines_at_end'] = empty_lines_at_end
 
     # Fix issues if requested
-    if fix and (issues['trailing_spaces'] or issues['no_eof_newline'] or issues['empty_lines_at_end'] > 1):
+    if fix and (
+        issues['trailing_spaces']
+        or issues['no_eof_newline']
+        or issues['empty_lines_at_end'] > 1
+    ):
         fixed_lines = []
 
         for i, line in enumerate(lines):
             # Remove trailing spaces but preserve newline
             if i + 1 in issues['trailing_spaces']:
                 line_content = line.rstrip('\n')
                 fixed_lines.append(line_content.rstrip() + '\n')
-                issues['fixed'].append(f"Line {i + 1}: Removed trailing spaces")
+                issues['fixed'].append(
+                    f'Line {i + 1}: Removed trailing spaces')
             else:
                 fixed_lines.append(line)
 
         # Ensure proper EOF
         if issues['no_eof_newline']:
             if fixed_lines and not fixed_lines[-1].endswith('\n'):
                 fixed_lines[-1] = fixed_lines[-1] + '\n'
-            issues['fixed'].append("Added EOF newline")
+            issues['fixed'].append('Added EOF newline')
 
         # Remove excessive empty lines at the end
         if issues['empty_lines_at_end'] > 1:
             # Remove all empty lines at the end, then add one
             while fixed_lines and fixed_lines[-1].strip() == '':
                 fixed_lines.pop()
             fixed_lines.append('\n')  # Add single newline at end
-            issues['fixed'].append(f"Removed {issues['empty_lines_at_end'] - 1} excessive empty lines at end")
+            issues['fixed'].append(
+                f'Removed {issues["empty_lines_at_end"] - 1} excessive empty lines at end'
+            )
 
         # Write fixed file
         try:
             with open(file_path, 'w', encoding='utf-8') as f:
                 f.writelines(fixed_lines)
         except Exception as e:
-            print(f"Error writing {file_path}: {e}")
+            print(f'Error writing {file_path}: {e}')
             return issues
 
     return issues
 
+
 def main():
-    """Main function."""
+    """Run the formatting check or fix process for Dynamixel model files."""
     parser = argparse.ArgumentParser(
-        description="Check formatting of Dynamixel model files",
+        description='Check formatting of Dynamixel model files',
         formatter_class=argparse.RawDescriptionHelpFormatter,
         epilog="""
 Examples:
     python3 check_model_file_formatting.py
     python3 check_model_file_formatting.py --fix
     python3 check_model_file_formatting.py --verbose
     python3 check_model_file_formatting.py --fix --verbose
-        """
+        """,
     )
 
-    parser.add_argument('--fix', action='store_true',
-                       help='Automatically fix formatting issues')
-    parser.add_argument('--verbose', action='store_true',
-                       help='Show detailed information about each file')
+    parser.add_argument(
+        '--fix', action='store_true', help='Automatically fix formatting issues'
+    )
+    parser.add_argument(
+        '--verbose',
+        action='store_true',
+        help='Show detailed information about each file',
+    )
 
     args = parser.parse_args()
 
     # Find model files
-    model_dir = "param/dxl_model"
+    model_dir = 'param/dxl_model'
     if not os.path.exists(model_dir):
         print(f"Error: Model directory '{model_dir}' not found.")
-        print("Please run this script from the dynamixel_hardware_interface directory.")
+        print('Please run this script from the dynamixel_hardware_interface directory.')
         sys.exit(1)
 
     model_files = []
@@ -144,12 +174,12 @@ def main():
             model_files.append(os.path.join(model_dir, file))
 
     if not model_files:
-        print("No .model files found.")
+        print('No .model files found.')
         sys.exit(0)
 
-    print(f"Checking {len(model_files)} model files...")
+    print(f'Checking {len(model_files)} model files...')
     if args.fix:
-        print("Auto-fix mode enabled.")
+        print('Auto-fix mode enabled.')
     print()
 
     total_issues = 0
@@ -159,45 +189,53 @@ def main():
         file_name = os.path.basename(file_path)
         issues = check_file_formatting(file_path, args.fix, args.verbose)
 
-        has_issues = (issues['trailing_spaces'] or
-                     issues['no_eof_newline'] or
-                     issues['empty_lines_at_end'] > 1)
+        has_issues = (
+            issues['trailing_spaces']
+            or issues['no_eof_newline']
+            or issues['empty_lines_at_end'] > 1
+        )
 
         if has_issues:
             files_with_issues += 1
-            print(f"❌ {file_name}")
+            print(f'❌ {file_name}')
 
             if issues['trailing_spaces']:
-                print(f"   Trailing spaces on lines: {', '.join(map(str, issues['trailing_spaces']))}")
+                print(
+                    f'   Trailing spaces on lines: \
+                    {", ".join(map(str, issues["trailing_spaces"]))}'
+                )
                 total_issues += len(issues['trailing_spaces'])
 
             if issues['no_eof_newline']:
-                print("   Missing EOF newline")
+                print('   Missing EOF newline')
                 total_issues += 1
 
             if issues['empty_lines_at_end'] > 1:
-                print(f"   {issues['empty_lines_at_end']} empty lines at end of file")
+                print(
+                    f'   {issues["empty_lines_at_end"]} empty lines at end of file')
                 total_issues += 1
 
             if args.fix and issues['fixed']:
-                print("   Fixed:")
+                print('   Fixed:')
                 for fix in issues['fixed']:
-                    print(f"     - {fix}")
+                    print(f'     - {fix}')
 
             print()
         elif args.verbose:
-            print(f"✅ {file_name} - No issues found")
+            print(f'✅ {file_name} - No issues found')
 
     # Summary
-    print("=" * 50)
+    print('=' * 50)
     if files_with_issues == 0:
-        print("🎉 All model files are properly formatted!")
+        print('🎉 All model files are properly formatted!')
     else:
-        print(f"Found {total_issues} formatting issues in {files_with_issues} files.")
+        print(
+            f'Found {total_issues} formatting issues in {files_with_issues} files.')
         if not args.fix:
-            print("Run with --fix to automatically fix these issues.")
+            print('Run with --fix to automatically fix these issues.')
 
     return 0 if files_with_issues == 0 else 1
 
-if __name__ == "__main__":
-    sys.exit(main())
+
+if __name__ == '__main__':
+    sys.exit(main())

src/dynamixel/dynamixel.cpp

@@ -102,13 +102,14 @@ DxlError Dynamixel::ReadDxlModelFile(uint8_t id, uint16_t model_num, uint8_t fir
   }
 }
 
-DxlError Dynamixel::ReadFirmwareVersion(uint8_t id, uint8_t& firmware_version)
+DxlError Dynamixel::ReadFirmwareVersion(uint8_t id, uint8_t & firmware_version)
 {
   uint32_t fw_version_data;
   DxlError result = ReadItem(id, "Firmware Version", fw_version_data);
   if (result == DxlError::OK) {
     firmware_version = static_cast<uint8_t>(fw_version_data);
-    // fprintf(stderr, "[ReadFirmwareVersion][ID:%03d] Firmware Version: %d\n", id, firmware_version);
+    // fprintf(stderr, "[ReadFirmwareVersion][ID:%03d] Firmware Version: %d\n",
+    //     id, firmware_version);
   } else {
     fprintf(stderr, "[ReadFirmwareVersion][ID:%03d] Failed to read firmware version\n", id);
   }
@@ -209,7 +210,8 @@ DxlError Dynamixel::InitDxlComm(
       return DxlError::DXL_HARDWARE_ERROR;
     } else {
       std::string model_name = dxl_info_.GetModelName(dxl_model_number);
-      fprintf(stderr, " - Ping succeeded. Dynamixel model number : %d (%s)\n", dxl_model_number, model_name.c_str());
+      fprintf(stderr, " - Ping succeeded. Dynamixel model number : %d (%s)\n", dxl_model_number,
+          model_name.c_str());
     }
 
     // First, read the model file to get the control table structure
@@ -224,11 +226,13 @@ DxlError Dynamixel::InitDxlComm(
     uint8_t firmware_version = 0;
     DxlError fw_result = ReadFirmwareVersion(it_id, firmware_version);
     if (fw_result == DxlError::OK && firmware_version > 0) {
-      // fprintf(stderr, "[InitDxlComm][ID:%03d] Reloading model file with firmware version %d\n", it_id, firmware_version);
+      // fprintf(stderr, "[InitDxlComm][ID:%03d] Reloading model file with firmware version %d\n",
+      // it_id, firmware_version);
       try {
         dxl_info_.ReadDxlModelFile(it_id, dxl_model_number, firmware_version);
       } catch (const std::exception & e) {
-        fprintf(stderr, "[InitDxlComm][ID:%03d] Error reading firmware-specific model file: %s\n", it_id, e.what());
+        fprintf(stderr, "[InitDxlComm][ID:%03d] Error reading firmware-specific model file: %s\n",
+            it_id, e.what());
         // Continue with the base model file if firmware-specific file fails
       }
     }