Pre-commit formatting

Author: hierophect

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/mpconfigboard.h

@@ -7,7 +7,6 @@
 #pragma once
 
 // Micropython setup
-
 #define MICROPY_HW_BOARD_NAME       "ESP32-S3-DevKitC-1-N8R2 (ROS version)"
 #define MICROPY_HW_MCU_NAME         "ESP32S3"
 

ports/espressif/boards/espressif_esp32s3_devkitc_1_n8r2_ros/sdkconfig

@@ -11,4 +11,4 @@
 
 # end of Component config
 
-# end of Espressif IoT Development Framework Configuration
+# end of Espressif IoT Development Framework Configuration

ports/espressif/common-hal/rclcpy/Node.c

@@ -9,6 +9,7 @@
 
 #include "esp_log.h"
 
+
 void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self,
     const char *node_name, const char *node_namespace) {
 
@@ -19,16 +20,16 @@ void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self,
     self->deinited = false;
 }
 
-bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t * self) {
+bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self) {
     return self->deinited;
 }
 
-void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t * self) {
+void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self) {
     if (common_hal_rclcpy_node_deinited(self)) {
         return;
     }
     rcl_ret_t ret = rcl_node_fini(&self->rcl_node);
-    if (ret != RCL_RET_OK  || !rcl_node_is_valid(&self->rcl_node)) {
+    if (ret != RCL_RET_OK || !rcl_node_is_valid(&self->rcl_node)) {
         ESP_LOGW("RCLCPY", "Node cleanup error: %d", ret);
     }
     self->deinited = true;

ports/espressif/common-hal/rclcpy/Node.h

@@ -15,9 +15,9 @@
 #include <rclc/rclc.h>
 #include <stdio.h>
 
+
 typedef struct {
     mp_obj_base_t base;
     bool deinited;
     rcl_node_t rcl_node;
 } rclcpy_node_obj_t;
-

ports/espressif/common-hal/rclcpy/Publisher.c

@@ -8,17 +8,18 @@
 
 #include "esp_log.h"
 
-void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t * node,
+
+void common_hal_rclcpy_publisher_construct(rclcpy_publisher_obj_t *self, rclcpy_node_obj_t *node,
     const char *topic_name) {
 
     // Create Int32 type object
     // TODO: support other message types through class imports
-    const rosidl_message_type_support_t * type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
+    const rosidl_message_type_support_t *type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
 
     // Creates a reliable Int32 publisher
     rcl_ret_t rc = rclc_publisher_init_default(
-    &self->rcl_publisher, &node->rcl_node,
-    type_support, topic_name);
+        &self->rcl_publisher, &node->rcl_node,
+        type_support, topic_name);
     if (RCL_RET_OK != rc) {
         mp_raise_RuntimeError(MP_ERROR_TEXT("ROS topic failed to initialize"));
     }
@@ -35,13 +36,13 @@ void common_hal_rclcpy_publisher_deinit(rclcpy_publisher_obj_t *self) {
         return;
     }
     rcl_ret_t ret = rcl_publisher_fini(&self->rcl_publisher, &self->node->rcl_node);
-    if (ret != RCL_RET_OK  || !rcl_publisher_is_valid(&self->rcl_publisher)) {
+    if (ret != RCL_RET_OK || !rcl_publisher_is_valid(&self->rcl_publisher)) {
         ESP_LOGW("RCLCPY", "Publisher cleanup warning: %d", ret);
     }
     self->node = NULL;
 }
 
-void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t * self, int32_t data) {
+void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t *self, int32_t data) {
     // Int32 message object
     std_msgs__msg__Int32 msg;
 
@@ -57,4 +58,4 @@ void common_hal_rclcpy_publisher_publish_int32(rclcpy_publisher_obj_t * self, in
 
 const char * common_hal_rclcpy_publisher_get_topic_name(rclcpy_publisher_obj_t *self) {
     return rcl_publisher_get_topic_name(&self->rcl_publisher);
-}
+}

ports/espressif/common-hal/rclcpy/Publisher.h

@@ -16,12 +16,11 @@
 #include <rclc/executor.h>
 #include <rclc/rclc.h>
 #include <stdio.h>
-
 #include <std_msgs/msg/int32.h>
 
 
 typedef struct {
     mp_obj_base_t base;
-    rclcpy_node_obj_t * node;
+    rclcpy_node_obj_t *node;
     rcl_publisher_t rcl_publisher;
 } rclcpy_publisher_obj_t;

ports/espressif/common-hal/rclcpy/__init__.c

@@ -8,29 +8,30 @@
 
 #include "esp_log.h"
 
+
 rclcpy_context_t rclcpy_default_context = {
     .initialized = false,
 };
 
-static void* microros_allocate(size_t size, void* state) {
-    (void) state;
+static void * microros_allocate(size_t size, void *state) {
+    (void)state;
     return m_malloc(size);
 }
 
-static void microros_deallocate(void* pointer, void* state) {
-    (void) state;
+static void microros_deallocate(void *pointer, void *state) {
+    (void)state;
     m_free(pointer);
 }
 
-static void* microros_reallocate(void* pointer, size_t size, void* state) {
-    (void) state;
+static void * microros_reallocate(void *pointer, size_t size, void *state) {
+    (void)state;
     return m_realloc(pointer, size);
 }
 
-static void* microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void* state) {
-    (void) state;
+static void * microros_zero_allocate(size_t number_of_elements, size_t size_of_element, void *state) {
+    (void)state;
     size_t total_size = number_of_elements * size_of_element;
-    void* ptr = m_malloc(total_size);
+    void *ptr = m_malloc(total_size);
     if (ptr != NULL) {
         memset(ptr, 0, total_size);
     }
@@ -65,7 +66,7 @@ void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_
     custom_allocator.allocate = microros_allocate;
     custom_allocator.deallocate = microros_deallocate;
     custom_allocator.reallocate = microros_reallocate;
-    custom_allocator.zero_allocate =  microros_zero_allocate;
+    custom_allocator.zero_allocate = microros_zero_allocate;
     // Set custom allocator as default
     if (!rcutils_set_default_allocator(&custom_allocator)) {
         ESP_LOGW("RCLCPY", "allocator failure");
@@ -77,31 +78,31 @@ void common_hal_rclcpy_init(const char *agent_ip, const char *agent_port, int16_
 
     // Options Init
     rclcpy_default_context.init_options = rcl_get_zero_initialized_init_options();
-	ret = rcl_init_options_init(&rclcpy_default_context.init_options, rclcpy_default_context.rcl_allocator);
+    ret = rcl_init_options_init(&rclcpy_default_context.init_options, rclcpy_default_context.rcl_allocator);
     if (ret != RCL_RET_OK) {
         ESP_LOGW("RCLCPY", "Options init failure: %d", ret);
     }
     if (domain_id < 0) {
         mp_raise_RuntimeError(MP_ERROR_TEXT("Invalid ROS domain ID"));
     }
-	ret = rcl_init_options_set_domain_id(&rclcpy_default_context.init_options, domain_id);
+    ret = rcl_init_options_set_domain_id(&rclcpy_default_context.init_options, domain_id);
     if (ret != RCL_RET_OK) {
         ESP_LOGW("RCLCPY", "Options domain failure: %d", ret);
     }
 
     // Set up Agent
     rclcpy_default_context.rmw_options = rcl_init_options_get_rmw_init_options(&rclcpy_default_context.init_options);
-	ret = rmw_uros_options_set_udp_address(agent_ip, agent_port, rclcpy_default_context.rmw_options);
+    ret = rmw_uros_options_set_udp_address(agent_ip, agent_port, rclcpy_default_context.rmw_options);
     if (ret != RCL_RET_OK) {
         ESP_LOGW("RCLCPY", "Agent options failure: %d", ret);
     }
 
     // Support Init
     ret = rclc_support_init_with_options(&rclcpy_default_context.rcl_support,
-            0,
-            NULL,
-            &rclcpy_default_context.init_options,
-            &rclcpy_default_context.rcl_allocator);
+        0,
+        NULL,
+        &rclcpy_default_context.init_options,
+        &rclcpy_default_context.rcl_allocator);
     if (ret != RCL_RET_OK) {
         ESP_LOGW("RCLCPY", "Initialization failure: %d", ret);
         mp_raise_RuntimeError(MP_ERROR_TEXT("ROS failed to initialize. Is agent connected?"));

ports/espressif/common-hal/rclcpy/__init__.h

@@ -16,13 +16,14 @@
 #include <rclc/executor.h>
 #include <rmw_microros/rmw_microros.h>
 
+
 typedef struct {
     bool initialized;
     rcl_allocator_t rcl_allocator;
     rclc_support_t rcl_support;
     rcl_init_options_t init_options;
-    rmw_init_options_t* rmw_options;
+    rmw_init_options_t *rmw_options;
 } rclcpy_context_t;
 
 extern rclcpy_context_t rclcpy_default_context;
-void rclcpy_reset(void);
+void rclcpy_reset(void);

shared-bindings/rclcpy/Node.c

@@ -12,6 +12,7 @@
 #include "py/objtype.h"
 #include "py/runtime.h"
 
+
 //| class Node:
 //|     """A ROS2 Node"""
 //|
@@ -88,7 +89,7 @@ static mp_obj_t rclcpy_node_create_publisher(mp_obj_t self_in, mp_obj_t topic) {
     const char *topic_name = mp_obj_str_get_str(topic);
 
     rclcpy_publisher_obj_t *publisher = mp_obj_malloc_with_finaliser(rclcpy_publisher_obj_t, &rclcpy_publisher_type);
-    common_hal_rclcpy_publisher_construct(publisher, self,topic_name);
+    common_hal_rclcpy_publisher_construct(publisher, self, topic_name);
     return (mp_obj_t)publisher;
 }
 static MP_DEFINE_CONST_FUN_OBJ_2(rclcpy_node_create_publisher_obj, rclcpy_node_create_publisher);
@@ -104,8 +105,8 @@ static MP_DEFINE_CONST_FUN_OBJ_2(rclcpy_node_create_publisher_obj, rclcpy_node_c
 static mp_obj_t rclcpy_node_get_name(mp_obj_t self_in) {
     rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in);
     check_for_deinit(self);
-    const char * name_str = common_hal_rclcpy_node_get_name(self);
-    return mp_obj_new_str(name_str,strlen(name_str));
+    const char *name_str = common_hal_rclcpy_node_get_name(self);
+    return mp_obj_new_str(name_str, strlen(name_str));
 }
 static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_name_obj, rclcpy_node_get_name);
 
@@ -120,8 +121,8 @@ static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_name_obj, rclcpy_node_get_name)
 static mp_obj_t rclcpy_node_get_namespace(mp_obj_t self_in) {
     rclcpy_node_obj_t *self = MP_OBJ_TO_PTR(self_in);
     check_for_deinit(self);
-    const char * namespace_str = common_hal_rclcpy_node_get_namespace(self);
-    return mp_obj_new_str(namespace_str,strlen(namespace_str));
+    const char *namespace_str = common_hal_rclcpy_node_get_namespace(self);
+    return mp_obj_new_str(namespace_str, strlen(namespace_str));
 }
 static MP_DEFINE_CONST_FUN_OBJ_1(rclcpy_node_get_namespace_obj, rclcpy_node_get_namespace);
 
@@ -141,4 +142,4 @@ MP_DEFINE_CONST_OBJ_TYPE(
     MP_TYPE_FLAG_HAS_SPECIAL_ACCESSORS,
     make_new, rclcpy_node_make_new,
     locals_dict, &rclcpy_node_locals_dict
-);
+    );

shared-bindings/rclcpy/Node.h

@@ -7,11 +7,12 @@
 #pragma once
 #include "common-hal/rclcpy/Node.h"
 
+
 extern const mp_obj_type_t rclcpy_node_type;
 
 void common_hal_rclcpy_node_construct(rclcpy_node_obj_t *self,
     const char *node_name, const char *namespace);
-bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t * self);
-void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t * self);
+bool common_hal_rclcpy_node_deinited(rclcpy_node_obj_t *self);
+void common_hal_rclcpy_node_deinit(rclcpy_node_obj_t *self);
 const char * common_hal_rclcpy_node_get_name(rclcpy_node_obj_t *self);
-const char * common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self);
+const char * common_hal_rclcpy_node_get_namespace(rclcpy_node_obj_t *self);