Merge pull request #179 from ros2/uncrustify_master

update style to match latest uncrustify

composition/src/api_composition.cpp

@@ -82,76 +82,78 @@ int main(int argc, char * argv[])
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<composition::srv::LoadNode::Request> request,
       std::shared_ptr<composition::srv::LoadNode::Response> response)
-  {
-    // get node plugin resource from package
-    std::string content;
-    std::string base_path;
-    if (!ament_index_cpp::get_resource("node_plugin", request->package_name, content, &base_path)) {
-      fprintf(stderr, "Could not find requested resource in ament index\n");
-      response->success = false;
-      return;
-    }
-
-    std::vector<std::string> lines = split(content, '\n', true);
-    for (auto line : lines) {
-      std::vector<std::string> parts = split(line, ';');
-      if (parts.size() != 2) {
-        fprintf(stderr, "Invalid resource entry\n");
+    {
+      // get node plugin resource from package
+      std::string content;
+      std::string base_path;
+      if (
+        !ament_index_cpp::get_resource("node_plugin", request->package_name, content, &base_path))
+      {
+        fprintf(stderr, "Could not find requested resource in ament index\n");
         response->success = false;
         return;
       }
-      // match plugin name with the same rmw suffix as this executable
-      if (parts[0] != request->plugin_name) {
-        continue;
-      }
 
-      std::string class_name = parts[0];
+      std::vector<std::string> lines = split(content, '\n', true);
+      for (auto line : lines) {
+        std::vector<std::string> parts = split(line, ';');
+        if (parts.size() != 2) {
+          fprintf(stderr, "Invalid resource entry\n");
+          response->success = false;
+          return;
+        }
+        // match plugin name with the same rmw suffix as this executable
+        if (parts[0] != request->plugin_name) {
+          continue;
+        }
 
-      // load node plugin
-      std::string library_path = parts[1];
-      if (!fs::path(library_path).is_absolute()) {
-        library_path = base_path + "/" + library_path;
-      }
-      printf("Load library %s\n", library_path.c_str());
-      class_loader::ClassLoader * loader;
-      try {
-        loader = new class_loader::ClassLoader(library_path);
-      } catch (const std::exception & ex) {
-        fprintf(stderr, "Failed to load library: %s\n", ex.what());
-        response->success = false;
-        return;
-      } catch (...) {
-        fprintf(stderr, "Failed to load library\n");
-        response->success = false;
-        return;
-      }
-      auto classes = loader->getAvailableClasses<rclcpp::Node>();
-      for (auto clazz : classes) {
-        if (clazz == class_name) {
-          printf("Instantiate class %s\n", clazz.c_str());
-          auto node = loader->createInstance<rclcpp::Node>(clazz);
-          exec.add_node(node);
-          nodes.push_back(node);
-          loaders.push_back(loader);
-          response->success = true;
+        std::string class_name = parts[0];
+
+        // load node plugin
+        std::string library_path = parts[1];
+        if (!fs::path(library_path).is_absolute()) {
+          library_path = base_path + "/" + library_path;
+        }
+        printf("Load library %s\n", library_path.c_str());
+        class_loader::ClassLoader * loader;
+        try {
+          loader = new class_loader::ClassLoader(library_path);
+        } catch (const std::exception & ex) {
+          fprintf(stderr, "Failed to load library: %s\n", ex.what());
+          response->success = false;
+          return;
+        } catch (...) {
+          fprintf(stderr, "Failed to load library\n");
+          response->success = false;
           return;
         }
-      }
+        auto classes = loader->getAvailableClasses<rclcpp::Node>();
+        for (auto clazz : classes) {
+          if (clazz == class_name) {
+            printf("Instantiate class %s\n", clazz.c_str());
+            auto node = loader->createInstance<rclcpp::Node>(clazz);
+            exec.add_node(node);
+            nodes.push_back(node);
+            loaders.push_back(loader);
+            response->success = true;
+            return;
+          }
+        }
 
-      // no matching class found in loader
-      delete loader;
+        // no matching class found in loader
+        delete loader;
+        fprintf(
+          stderr, "Failed to find class with the requested plugin name '%s' in "
+          "the loaded library\n",
+          request->plugin_name.c_str());
+        response->success = false;
+        return;
+      }
       fprintf(
-        stderr, "Failed to find class with the requested plugin name '%s' in "
-        "the loaded library\n",
-        request->plugin_name.c_str());
+        stderr, "Failed to find plugin name '%s' in prefix '%s'\n",
+        request->plugin_name.c_str(), base_path.c_str());
       response->success = false;
-      return;
-    }
-    fprintf(
-      stderr, "Failed to find plugin name '%s' in prefix '%s'\n",
-      request->plugin_name.c_str(), base_path.c_str());
-    response->success = false;
-  });
+    });
 
   exec.spin();
 

demo_nodes_cpp/src/timers/one_off_timer.cpp

@@ -26,18 +26,20 @@ class OneOffTimerNode : public rclcpp::Node
   OneOffTimerNode()
   : rclcpp::Node("one_off_timer"), count(0)
   {
-    periodic_timer = this->create_wall_timer(2s, [this]() {
-      printf("in periodic_timer callback\n");
-      if (this->count++ % 3 == 0) {
-        printf("  resetting one off timer\n");
-        this->one_off_timer = this->create_wall_timer(1s, [this]() {
-          printf("in one_off_timer callback\n");
-          this->one_off_timer->cancel();
-        });
-      } else {
-        printf("  not resetting one off timer\n");
-      }
-    });
+    periodic_timer = this->create_wall_timer(
+      2s,
+      [this]() {
+        printf("in periodic_timer callback\n");
+        if (this->count++ % 3 == 0) {
+          printf("  resetting one off timer\n");
+          this->one_off_timer = this->create_wall_timer(1s, [this]() {
+            printf("in one_off_timer callback\n");
+            this->one_off_timer->cancel();
+          });
+        } else {
+          printf("  not resetting one off timer\n");
+        }
+      });
   }
 
   rclcpp::TimerBase::SharedPtr periodic_timer;

demo_nodes_cpp/src/timers/reuse_timer.cpp

@@ -26,22 +26,26 @@ class OneOffTimerNode : public rclcpp::Node
   OneOffTimerNode()
   : rclcpp::Node("reuse_timer"), count(0)
   {
-    one_off_timer = this->create_wall_timer(1s, [this]() {
-      printf("in one_off_timer callback\n");
-      this->one_off_timer->cancel();
-    });
+    one_off_timer = this->create_wall_timer(
+      1s,
+      [this]() {
+        printf("in one_off_timer callback\n");
+        this->one_off_timer->cancel();
+      });
     // cancel immediately to prevent it running the first time.
     one_off_timer->cancel();
 
-    periodic_timer = this->create_wall_timer(2s, [this]() {
-      printf("in periodic_timer callback\n");
-      if (this->count++ % 3 == 0) {
-        printf("  resetting one off timer\n");
-        this->one_off_timer->reset();
-      } else {
-        printf("  not resetting one off timer\n");
-      }
-    });
+    periodic_timer = this->create_wall_timer(
+      2s,
+      [this]() {
+        printf("in periodic_timer callback\n");
+        if (this->count++ % 3 == 0) {
+          printf("  resetting one off timer\n");
+          this->one_off_timer->reset();
+        } else {
+          printf("  not resetting one off timer\n");
+        }
+      });
   }
 
   rclcpp::TimerBase::SharedPtr periodic_timer;

demo_nodes_cpp/src/topics/allocator_tutorial.cpp

@@ -73,14 +73,16 @@ struct MyAllocator
 };
 
 template<typename T, typename U>
-constexpr bool operator==(const MyAllocator<T> &,
+constexpr bool operator==(
+  const MyAllocator<T> &,
   const MyAllocator<U> &) noexcept
 {
   return true;
 }
 
 template<typename T, typename U>
-constexpr bool operator!=(const MyAllocator<T> &,
+constexpr bool operator!=(
+  const MyAllocator<T> &,
   const MyAllocator<U> &) noexcept
 {
   return false;
@@ -163,9 +165,9 @@ int main(int argc, char ** argv)
   // Create a custom allocator and pass the allocator to the publisher and subscriber.
   auto alloc = std::make_shared<MyAllocator<void>>();
   auto publisher = node->create_publisher<std_msgs::msg::UInt32>("allocator_tutorial", 10, alloc);
-  auto msg_mem_strat =
-    std::make_shared<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::UInt32,
-    MyAllocator<>>>(alloc);
+  auto msg_mem_strat = std::make_shared<
+    rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      std_msgs::msg::UInt32, MyAllocator<>>>(alloc);
   auto subscriber = node->create_subscription<std_msgs::msg::UInt32>(
     "allocator_tutorial", 10, callback, nullptr, false, msg_mem_strat, alloc);
 

demo_nodes_cpp/src/topics/listener_best_effort.cpp

@@ -23,9 +23,11 @@ int main(int argc, char * argv[])
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("listener");
   auto sub = node->create_subscription<std_msgs::msg::String>(
-    "chatter", [](const std_msgs::msg::String::SharedPtr msg) -> void {
-    printf("I heard: [%s]\n", msg->data.c_str());
-  }, rmw_qos_profile_sensor_data);
+    "chatter",
+    [](const std_msgs::msg::String::SharedPtr msg) -> void {
+      printf("I heard: [%s]\n", msg->data.c_str());
+    },
+    rmw_qos_profile_sensor_data);
   rclcpp::spin(node);
   return 0;
 }

intra_process_demo/include/image_pipeline/camera_node.hpp

@@ -31,7 +31,8 @@
 class CameraNode : public rclcpp::Node
 {
 public:
-  CameraNode(const std::string & output, const std::string & node_name = "camera_node",
+  CameraNode(
+    const std::string & output, const std::string & node_name = "camera_node",
     bool watermark = true, int device = 0, int width = 320, int height = 240)
   : Node(node_name, "", true), canceled_(false), watermark_(watermark)
   {

intra_process_demo/include/image_pipeline/image_view_node.hpp

@@ -34,32 +34,34 @@ class ImageViewNode : public rclcpp::Node
   {
     // Create a subscription on the input topic.
     sub_ = this->create_subscription<sensor_msgs::msg::Image>(
-      input, [node_name, watermark](const sensor_msgs::msg::Image::SharedPtr msg) {
-      // Create a cv::Mat from the image message (without copying).
-      cv::Mat cv_mat(
-        msg->height, msg->width,
-        encoding2mat_type(msg->encoding),
-        msg->data.data());
-      if (watermark) {
-        // Annotate with the pid and pointer address.
-        std::stringstream ss;
-        ss << "pid: " << GETPID() << ", ptr: " << msg.get();
-        draw_on_image(cv_mat, ss.str(), 60);
-      }
-      // Show the image.
-      CvMat c_mat = cv_mat;
-      cvShowImage(node_name.c_str(), &c_mat);
-      char key = cv::waitKey(1);    // Look for key presses.
-      if (key == 27 /* ESC */ || key == 'q') {
-        rclcpp::shutdown();
-      }
-      if (key == ' ') {    // If <space> then pause until another <space>.
-        key = '\0';
-        while (key != ' ') {
-          key = cv::waitKey(1);
+      input,
+      [node_name, watermark](const sensor_msgs::msg::Image::SharedPtr msg) {
+        // Create a cv::Mat from the image message (without copying).
+        cv::Mat cv_mat(
+          msg->height, msg->width,
+          encoding2mat_type(msg->encoding),
+          msg->data.data());
+        if (watermark) {
+          // Annotate with the pid and pointer address.
+          std::stringstream ss;
+          ss << "pid: " << GETPID() << ", ptr: " << msg.get();
+          draw_on_image(cv_mat, ss.str(), 60);
         }
-      }
-    }, rmw_qos_profile_sensor_data);
+        // Show the image.
+        CvMat c_mat = cv_mat;
+        cvShowImage(node_name.c_str(), &c_mat);
+        char key = cv::waitKey(1);    // Look for key presses.
+        if (key == 27 /* ESC */ || key == 'q') {
+          rclcpp::shutdown();
+        }
+        if (key == ' ') {    // If <space> then pause until another <space>.
+          key = '\0';
+          while (key != ' ') {
+            key = cv::waitKey(1);
+          }
+        }
+      },
+      rmw_qos_profile_sensor_data);
   }
 
 private:

intra_process_demo/include/image_pipeline/watermark_node.hpp

@@ -39,22 +39,24 @@ class WatermarkNode : public rclcpp::Node
     std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
     // Create a subscription on the output topic.
     sub_ = this->create_subscription<sensor_msgs::msg::Image>(
-      input, [captured_pub, text](sensor_msgs::msg::Image::UniquePtr msg) {
-      auto pub_ptr = captured_pub.lock();
-      if (!pub_ptr) {
-        return;
-      }
-      // Create a cv::Mat from the image message (without copying).
-      cv::Mat cv_mat(
-        msg->height, msg->width,
-        encoding2mat_type(msg->encoding),
-        msg->data.data());
-      // Annotate the image with the pid, pointer address, and the watermark text.
-      std::stringstream ss;
-      ss << "pid: " << GETPID() << ", ptr: " << msg.get() << " " << text;
-      draw_on_image(cv_mat, ss.str(), 40);
-      pub_ptr->publish(msg);    // Publish it along.
-    }, qos);
+      input,
+      [captured_pub, text](sensor_msgs::msg::Image::UniquePtr msg) {
+        auto pub_ptr = captured_pub.lock();
+        if (!pub_ptr) {
+          return;
+        }
+        // Create a cv::Mat from the image message (without copying).
+        cv::Mat cv_mat(
+          msg->height, msg->width,
+          encoding2mat_type(msg->encoding),
+          msg->data.data());
+        // Annotate the image with the pid, pointer address, and the watermark text.
+        std::stringstream ss;
+        ss << "pid: " << GETPID() << ", ptr: " << msg.get() << " " << text;
+        draw_on_image(cv_mat, ss.str(), 40);
+        pub_ptr->publish(msg);    // Publish it along.
+      },
+      qos);
   }
 
 private: