Fixed lint

Signed-off-by: Sungho Woo <[email protected]>

Author: sunghowoo

include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp

@@ -77,7 +77,7 @@ typedef struct
   uint16_t indirect_data_addr;      ///< Base address for indirect data.
   uint16_t cnt;                     ///< Number of control items.
   uint8_t size;                     ///< Total size in bytes.
-  std::vector<std::string> item_name; ///< Names of the control items.
+  std::vector<std::string> item_name;  ///< Names of the control items.
   std::vector<uint8_t> item_size;  ///< Sizes of each control item in bytes.
 } IndirectInfo;
 
@@ -103,7 +103,7 @@ typedef struct
   std::vector<std::string> item_name;          ///< List of control item names.
   std::vector<uint8_t> item_size;              ///< Sizes of the control items.
   std::vector<uint16_t> item_addr;             ///< Addresses of the control items.
-  std::vector<std::shared_ptr<double>> item_data_ptr_vec; ///< Pointers to the data.
+  std::vector<std::shared_ptr<double>> item_data_ptr_vec;  ///< Pointers to the data.
 } RWItemList;
 
 class Dynamixel

include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

@@ -18,14 +18,16 @@
 #ifndef DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL__DYNAMIXEL_INFO_HPP_
 #define DYNAMIXEL_HARDWARE_INTERFACE__DYNAMIXEL__DYNAMIXEL_INFO_HPP_
 
-#include <boost/algorithm/string.hpp>
+#include <cmath>
+#include <cstring>
+
 #include <fstream>
 #include <iostream>
-#include <vector>
-#include <cstring>
-#include <string>
 #include <map>
-#include <cmath>
+#include <string>
+#include <vector>
+
+#include <boost/algorithm/string.hpp>
 
 namespace dynamixel_hardware_interface
 {

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -65,7 +65,7 @@ typedef struct HandlerVarType_
   uint8_t id;                                /**< ID of the Dynamixel component. */
   std::string name;                          /**< Name of the component. */
   std::vector<std::string> interface_name_vec; /**< Vector of interface names. */
-  std::vector<std::shared_ptr<double>> value_ptr_vec; /**< Vector of pointers to interface values. */
+  std::vector<std::shared_ptr<double>> value_ptr_vec; /**< Vector interface values. */
 } HandlerVarType;
 
 /**
@@ -117,7 +117,8 @@ class DynamixelHardware : public
    * @return Callback return indicating success or error.
    */
   DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC
-  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info)
+  override;
 
   /**
    * @brief Exports state interfaces for ROS2.
@@ -139,15 +140,17 @@ class DynamixelHardware : public
    * @return Callback return indicating success or error.
    */
   DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC
-  hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
+  hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state)
+  override;
 
   /**
    * @brief Callback for deactivating the hardware interface.
    * @param previous_state Previous lifecycle state.
    * @return Callback return indicating success or error.
    */
   DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC
-  hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state)
+  override;
 
   /**
    * @brief Reads data from the hardware.

src/dynamixel/dynamixel.cpp

@@ -661,15 +661,16 @@ bool Dynamixel::checkReadType()
     // Check if Indirect Data Read address and size are different
     uint16_t indirect_addr[2];  // [i-1], [i]
     uint8_t indirect_size[2];   // [i-1], [i]
-    
+
     if (!dxl_info_.GetDxlControlItem(
-      read_data_list_.at(dxl_index).id, "Indirect Data Read", indirect_addr[1], indirect_size[1]) ||
+        read_data_list_.at(dxl_index).id, "Indirect Data Read", indirect_addr[1],
+        indirect_size[1]) ||
       !dxl_info_.GetDxlControlItem(
-      read_data_list_.at(dxl_index - 1).id, "Indirect Data Read", indirect_addr[0], indirect_size[0]))
+        read_data_list_.at(dxl_index - 1).id, "Indirect Data Read", indirect_addr[0],
+        indirect_size[0]))
     {
       return BULK;
     }
-    
     if (indirect_addr[1] != indirect_addr[0] || indirect_size[1] != indirect_size[0]) {
       return BULK;
     }
@@ -683,7 +684,7 @@ bool Dynamixel::checkReadType()
       item_index++)
     {
       if (read_data_list_.at(dxl_index).item_name.at(item_index) !=
-        read_data_list_.at(dxl_index - 1).item_name.at(item_index) || 
+        read_data_list_.at(dxl_index - 1).item_name.at(item_index) ||
         read_data_list_.at(dxl_index).item_addr.at(item_index) !=
         read_data_list_.at(dxl_index - 1).item_addr.at(item_index) ||
         read_data_list_.at(dxl_index).item_size.at(item_index) !=
@@ -702,15 +703,15 @@ bool Dynamixel::checkWriteType()
     // Check if Indirect Data Write address and size are different
     uint16_t indirect_addr[2];  // [i-1], [i]
     uint8_t indirect_size[2];   // [i-1], [i]
-    
     if (!dxl_info_.GetDxlControlItem(
-      write_data_list_.at(dxl_index).id, "Indirect Data Write", indirect_addr[1], indirect_size[1]) ||
+        write_data_list_.at(dxl_index).id, "Indirect Data Write", indirect_addr[1],
+        indirect_size[1]) ||
       !dxl_info_.GetDxlControlItem(
-      write_data_list_.at(dxl_index - 1).id, "Indirect Data Write", indirect_addr[0], indirect_size[0]))
+        write_data_list_.at(dxl_index - 1).id, "Indirect Data Write", indirect_addr[0],
+        indirect_size[0]))
     {
       return BULK;
     }
-    
     if (indirect_addr[1] != indirect_addr[0] || indirect_size[1] != indirect_size[0]) {
       return BULK;
     }
@@ -728,8 +729,7 @@ bool Dynamixel::checkWriteType()
         write_data_list_.at(dxl_index).item_addr.at(item_index) !=
         write_data_list_.at(dxl_index - 1).item_addr.at(item_index) ||
         write_data_list_.at(dxl_index).item_size.at(item_index) !=
-        write_data_list_.at(dxl_index - 1).item_size.at(item_index)
-        )
+        write_data_list_.at(dxl_index - 1).item_size.at(item_index))
       {
         return BULK;
       }

src/dynamixel_hardware_interface.cpp

@@ -51,7 +51,9 @@ DynamixelHardware::~DynamixelHardware()
 hardware_interface::CallbackReturn DynamixelHardware::on_init(
   const hardware_interface::HardwareInfo & info)
 {
-  if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS) {
+  if (hardware_interface::SystemInterface::on_init(info) !=
+    hardware_interface::CallbackReturn::SUCCESS)
+  {
     RCLCPP_ERROR_STREAM(logger_, "Failed to initialize DynamixelHardware");
     return hardware_interface::CallbackReturn::ERROR;
   }
@@ -78,9 +80,11 @@ hardware_interface::CallbackReturn DynamixelHardware::on_init(
   RCLCPP_INFO_STREAM(logger_, "$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$");
   RCLCPP_INFO_STREAM(logger_, "$$$$$ Init Dxl Comm Port");
 
-
-  if (info_.hardware_parameters.find("use_revolute_to_prismatic_gripper") != info_.hardware_parameters.end()) {
-    use_revolute_to_prismatic_ = std::stoi(info_.hardware_parameters.at("use_revolute_to_prismatic_gripper")) != 0;
+  if (info_.hardware_parameters.find("use_revolute_to_prismatic_gripper") !=
+    info_.hardware_parameters.end())
+  {
+    use_revolute_to_prismatic_ =
+      std::stoi(info_.hardware_parameters.at("use_revolute_to_prismatic_gripper")) != 0;
   }
 
   if (use_revolute_to_prismatic_) {
@@ -383,7 +387,7 @@ hardware_interface::CallbackReturn DynamixelHardware::stop()
 }
 
 hardware_interface::return_type DynamixelHardware::read(
-    const rclcpp::Time & time, const rclcpp::Duration & period)
+  const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   if (dxl_status_ == REBOOTING) {
     RCLCPP_ERROR_STREAM(logger_, "Dynamixel Read Fail : REBOOTING");
@@ -426,14 +430,14 @@ hardware_interface::return_type DynamixelHardware::read(
     dxl_state_pub_uni_ptr_->unlockAndPublish();
   }
 
-if (rclcpp::ok()) {
+  if (rclcpp::ok()) {
     rclcpp::spin_some(this->get_node_base_interface());
-}
+  }
   return hardware_interface::return_type::OK;
 }
 
 hardware_interface::return_type DynamixelHardware::write(
-    const rclcpp::Time & time, const rclcpp::Duration & period)
+  const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   if (dxl_status_ == DXL_OK || dxl_status_ == HW_ERROR) {
     dxl_comm_->WriteItemBuf();
@@ -551,7 +555,6 @@ bool DynamixelHardware::InitDxlItems()
   RCLCPP_INFO_STREAM(logger_, "$$$$$ Init Dxl Items");
   for (const hardware_interface::ComponentInfo & gpio : info_.gpios) {
     uint8_t id = static_cast<uint8_t>(stoi(gpio.parameters.at("ID")));
-    
     // First write items containing "Limit"
     for (auto it : gpio.parameters) {
       if (it.first != "ID" && it.first != "type" && it.first.find("Limit") != std::string::npos) {
@@ -599,7 +602,6 @@ bool DynamixelHardware::InitDxlReadItems()
     hdl_gpio_sensor_states_.clear();
     for (const hardware_interface::ComponentInfo & gpio : info_.gpios) {
       if (gpio.state_interfaces.size() && gpio.parameters.at("type") == "dxl") {
-
         uint8_t id = static_cast<uint8_t>(stoi(gpio.parameters.at("ID")));
         HandlerVarType temp_read;
 
@@ -982,11 +984,15 @@ void DynamixelHardware::set_dxl_torque_srv_callback(
 
 void DynamixelHardware::initRevoluteToPrismaticParam()
 {
-  if (info_.hardware_parameters.find("revolute_to_prismatic_dxl") != info_.hardware_parameters.end()) {
+  if (info_.hardware_parameters.find("revolute_to_prismatic_dxl") !=
+    info_.hardware_parameters.end())
+  {
     conversion_dxl_name_ = info_.hardware_parameters.at("revolute_to_prismatic_dxl");
   }
 
-  if (info_.hardware_parameters.find("revolute_to_prismatic_joint") != info_.hardware_parameters.end()) {
+  if (info_.hardware_parameters.find("revolute_to_prismatic_joint") !=
+    info_.hardware_parameters.end())
+  {
     conversion_joint_name_ = info_.hardware_parameters.at("revolute_to_prismatic_joint");
   }