rosbag2_storage_mcap: format using ament_uncrustify

Signed-off-by: James Smith <james@foxglove.dev>
ros2 · Nov 18, 2022 · d1a3c49 · d1a3c49
1 parent fbaf5a9
commit d1a3c49
Show file tree

Hide file tree

Showing 10 changed files with 341 additions and 296 deletions.
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
@@ -45,29 +45,25 @@ jobs:
       fail-fast: false
       matrix:
         linter: [cppcheck, cpplint, uncrustify]
-        package_name:
-          - rosbag2_compression
-          - rosbag2_compression_zstd
-          - rosbag2_cpp
-          - rosbag2_examples_cpp
-          - rosbag2_py
-          - rosbag2_storage
-          - rosbag2_storage_sqlite3
-          - rosbag2_storage_mcap
-          - rosbag2_test_common
-          - rosbag2_tests
-          - rosbag2_transport
-        exclude:
-          - linter: uncrustify
-            package_name: rosbag2_storage_mcap
 
     steps:
     - uses: actions/checkout@v2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling
-        package-name: ${{ matrix.package_name }}
+        package-name: |
+          rosbag2_compression
+          rosbag2_compression_zstd
+          rosbag2_cpp
+          rosbag2_examples_cpp
+          rosbag2_py
+          rosbag2_storage
+          rosbag2_storage_sqlite3
+          rosbag2_storage_mcap
+          rosbag2_test_common
+          rosbag2_tests
+          rosbag2_transport
 
   ament_lint_python: # Linters applicable to Python packages
     name: ament_${{ matrix.linter }}

diff --git a/CPPLINT.cfg b/CPPLINT.cfg
diff --git a/rosbag2_storage_mcap/.clang-format b/rosbag2_storage_mcap/.clang-format
diff --git a/rosbag2_storage_mcap/CMakeLists.txt b/rosbag2_storage_mcap/CMakeLists.txt
@@ -87,12 +87,6 @@ if(BUILD_TESTING)
 
   add_definitions(-D_TEST_RESOURCES_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/${PROJECT_NAME}")
 
-  set(ament_cmake_clang_format_CONFIG_FILE .clang-format)
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
-  if(WIN32)
-    # clang-format is not easily exposed to Windows, this linter enforced regardless via Linux/OSX builds
-    list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_clang_format)
-  endif()
   ament_lint_auto_find_test_dependencies()
 
   ament_add_gmock(test_mcap_storage test/rosbag2_storage_mcap/test_mcap_storage.cpp)

diff --git a/rosbag2_storage_mcap/include/rosbag2_storage_mcap/message_definition_cache.hpp b/rosbag2_storage_mcap/include/rosbag2_storage_mcap/message_definition_cache.hpp
@@ -23,43 +23,51 @@
 #include <unordered_set>
 #include <utility>
 
-namespace rosbag2_storage_mcap::internal {
+namespace rosbag2_storage_mcap::internal
+{
 
-enum struct Format {
+enum struct Format
+{
   IDL,
   MSG,
 };
 
-struct MessageSpec {
-  MessageSpec(Format format, std::string text, const std::string& package_context);
+struct MessageSpec
+{
+  MessageSpec(Format format, std::string text, const std::string & package_context);
   const std::set<std::string> dependencies;
   const std::string text;
   Format format;
 };
 
-struct DefinitionIdentifier {
+struct DefinitionIdentifier
+{
   Format format;
   std::string package_resource_name;
 
-  bool operator==(const DefinitionIdentifier& di) const {
+  bool operator==(const DefinitionIdentifier & di) const
+  {
     return (format == di.format) && (package_resource_name == di.package_resource_name);
   }
 };
 
-class DefinitionNotFoundError : public std::exception {
+class DefinitionNotFoundError : public std::exception
+{
 private:
   std::string name_;
 
 public:
   explicit DefinitionNotFoundError(std::string name)
-      : name_(std::move(name)) {}
+  : name_(std::move(name)) {}
 
-  const char* what() const noexcept override {
+  const char * what() const noexcept override
+  {
     return name_.c_str();
   }
 };
 
-class MessageDefinitionCache final {
+class MessageDefinitionCache final
+{
 public:
   /**
    * Concatenate the message definition with its dependencies into a self-contained schema.
@@ -70,11 +78,13 @@ class MessageDefinitionCache final {
    * package resource name.
    */
   ROSBAG2_STORAGE_MCAP_PUBLIC
-  std::pair<Format, std::string> get_full_text(const std::string& package_resource_name);
+  std::pair<Format, std::string> get_full_text(const std::string & package_resource_name);
 
 private:
-  struct DefinitionIdentifierHash {
-    std::size_t operator()(const DefinitionIdentifier& di) const {
+  struct DefinitionIdentifierHash
+  {
+    std::size_t operator()(const DefinitionIdentifier & di) const
+    {
       std::size_t h1 = std::hash<Format>()(di.format);
       std::size_t h2 = std::hash<std::string>()(di.package_resource_name);
       return h1 ^ h2;
@@ -84,15 +94,16 @@ class MessageDefinitionCache final {
    * Load and parse the message file referenced by the given datatype, or return it from
    * msg_specs_by_datatype
    */
-  const MessageSpec& load_message_spec(const DefinitionIdentifier& definition_identifier);
+  const MessageSpec & load_message_spec(const DefinitionIdentifier & definition_identifier);
 
   std::unordered_map<DefinitionIdentifier, MessageSpec, DefinitionIdentifierHash>
-    msg_specs_by_definition_identifier_;
+  msg_specs_by_definition_identifier_;
 };
 
 ROSBAG2_STORAGE_MCAP_PUBLIC
-std::set<std::string> parse_dependencies(Format format, const std::string& text,
-                                         const std::string& package_context);
+std::set<std::string> parse_dependencies(
+  Format format, const std::string & text,
+  const std::string & package_context);
 
 }  // namespace rosbag2_storage_mcap::internal
 

diff --git a/rosbag2_storage_mcap/package.xml b/rosbag2_storage_mcap/package.xml
@@ -15,7 +15,6 @@
   <depend>rcutils</depend>
   <depend>rosbag2_storage</depend>
 
-  <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>