refactor: improve code readability and formatting

Author: Woojin-Crive

src/dynamixel/dynamixel.cpp

@@ -959,7 +959,8 @@ DxlError Dynamixel::SetBulkReadItemAndHandler()
           result);
       } 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",
+          stderr, "[ID:%03d] 'Indirect Address Read' is not defined in control table, "
+          "Cannot set Indirect Address Read for : [%s]\n",
           it_read_data.id,
           it_read_data.item_name.at(item_index).c_str());
       }
@@ -1015,12 +1016,15 @@ DxlError Dynamixel::SetBulkReadHandler(std::vector<uint8_t> id_arr)
   return DxlError::OK;
 }
 
-DxlError Dynamixel::AddDirectRead(uint8_t id, std::string item_name, uint16_t item_addr, uint8_t item_size)
+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", id, item_name.c_str(), item_addr, item_size);
+    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", id, item_name.c_str(), item_addr, item_size);
+    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;
   }
   return DxlError::OK;
@@ -1387,8 +1391,10 @@ 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({it_write_data.item_addr[item_index],
-                           it_write_data.item_addr[item_index] + it_write_data.item_size[item_index]});
+      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());
 

src/dynamixel_hardware_interface.cpp

@@ -394,8 +394,8 @@ 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() <<
+          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;
         }
@@ -436,7 +436,8 @@ hardware_interface::CallbackReturn DynamixelHardware::start()
     if (error_duration.seconds() * 1000 >= err_timeout_ms_) {
       RCLCPP_ERROR_STREAM(
         logger_,
-        "Dynamixel Start Fail (Timeout: " << error_duration.seconds() * 1000 << "ms/" << err_timeout_ms_ << "ms): " << Dynamixel::DxlErrorToString(dxl_comm_err_));
+        "Dynamixel Start Fail (Timeout: " << error_duration.seconds() * 1000 << "ms/" <<
+        err_timeout_ms_ << "ms): " << Dynamixel::DxlErrorToString(dxl_comm_err_));
       return hardware_interface::CallbackReturn::ERROR;
     }
   }
@@ -987,7 +988,9 @@ void DynamixelHardware::MapInterfaces(
       auto map_it = iface_map.find(outer_iface);
       if (map_it == iface_map.end()) {
         std::ostringstream oss;
-        oss << "No mapping found for '" << outer_handlers.at(i).name << "', interface '" << outer_iface << "'. Skipping. Available mapping keys: [";
+        oss << "No mapping found for '" << outer_handlers.at(i).name
+            << "', interface '" << outer_iface
+            << "'. Skipping. Available mapping keys: [";
         size_t key_count = 0;
         for (const auto &pair : iface_map) {
           oss << pair.first;
@@ -1025,7 +1028,8 @@ void DynamixelHardware::MapInterfaces(
 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::function<double(double)>(
+        std::bind(&DynamixelHardware::revoluteToPrismatic, this, std::placeholders::_1))
     : std::function<double(double)>();
   this->MapInterfaces(
     num_of_joints_,
@@ -1043,7 +1047,8 @@ void DynamixelHardware::CalcTransmissionToJoint()
 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::function<double(double)>(
+        std::bind(&DynamixelHardware::prismaticToRevolute, this, std::placeholders::_1))
     : std::function<double(double)>();
   this->MapInterfaces(
     num_of_transmissions_,