seyond(refactor): run pre-commit on files

Signed-off-by: David Wong <[email protected]>

nebula_decoders/include/nebula_decoders/nebula_decoders_seyond/decoders/falcon.hpp

@@ -15,7 +15,6 @@ namespace seyond_packet
 
 struct PacketFalcon : public PacketBase<8, 32, 2, 100>
 {
-
 };
 
 #pragma pack(pop)
@@ -24,9 +23,7 @@ struct PacketFalcon : public PacketBase<8, 32, 2, 100>
 
 class Falcon : public SeyondSensor<seyond_packet::PacketFalcon>
 {
-
-
 };
 
 }  // namespace drivers
-}  // namespace nebula
+}  // namespace nebula

nebula_decoders/include/nebula_decoders/nebula_decoders_seyond/decoders/robin_w.hpp

@@ -15,7 +15,6 @@ namespace seyond_packet
 
 struct PacketRobinW : public PacketBase<8, 32, 2, 100>
 {
-
 };
 
 #pragma pack(pop)
@@ -24,9 +23,7 @@ struct PacketRobinW : public PacketBase<8, 32, 2, 100>
 
 class RobinW : public SeyondSensor<seyond_packet::PacketRobinW>
 {
-
-
 };
 
 }  // namespace drivers
-}  // namespace nebula
+}  // namespace nebula

nebula_decoders/include/nebula_decoders/nebula_decoders_seyond/decoders/seyond_decoder.hpp

@@ -34,7 +34,7 @@ class SeyondDecoder : public SeyondScanDecoder
   /// @brief The last decoded packet
   typename SensorT::packet_t packet_;
   /// @brief The last azimuth processed
-  int last_phase_ = -1; // Dummy value to signal last_phase_ has not been set yet
+  int last_phase_ = -1;  // Dummy value to signal last_phase_ has not been set yet
   /// @brief The timestamp of the last completed scan in nanoseconds
   uint64_t output_scan_timestamp_ns_ = 0;
   /// @brief The timestamp of the scan currently in progress
@@ -78,7 +78,8 @@ class SeyondDecoder : public SeyondScanDecoder
   /// @param correction_data Calibration data for this decoder
   explicit SeyondDecoder(
     const std::shared_ptr<const SeyondSensorConfiguration> & sensor_configuration,
-    const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> & correction_data)
+    const std::shared_ptr<const typename SensorT::angle_corrector_t::correction_data_t> &
+      correction_data)
   : sensor_configuration_(sensor_configuration),
     angle_corrector_(correction_data),
     logger_(rclcpp::get_logger("SeyondDecoder"))
@@ -93,10 +94,7 @@ class SeyondDecoder : public SeyondScanDecoder
     output_pc_->reserve(SensorT::MAX_SCAN_BUFFER_POINTS);
   }
 
-  int unpack(const std::vector<uint8_t> & packet) override
-  {
-    return -1;
-  }
+  int unpack(const std::vector<uint8_t> & packet) override { return -1; }
 
   bool hasScanned() override { return has_scanned_; }
 

nebula_decoders/include/nebula_decoders/nebula_decoders_seyond/decoders/seyond_scan_decoder.hpp

@@ -1,8 +1,8 @@
 #ifndef NEBULA_WS_HESAI_SCAN_DECODER_HPP
 #define NEBULA_WS_HESAI_SCAN_DECODER_HPP
 
-#include "nebula_common/seyond/seyond_common.hpp"
 #include "nebula_common/point_types.hpp"
+#include "nebula_common/seyond/seyond_common.hpp"
 
 #include "nebula_msgs/msg/nebula_packet.hpp"
 #include "nebula_msgs/msg/nebula_packets.hpp"

nebula_decoders/include/nebula_decoders/nebula_decoders_seyond/decoders/seyond_sensor.hpp

@@ -16,7 +16,6 @@ template <typename PacketT>
 class SeyondSensor
 {
 private:
-
 public:
   typedef PacketT packet_t;
 
@@ -25,4 +24,4 @@ class SeyondSensor
 };
 
 }  // namespace drivers
-}  // namespace nebula
+}  // namespace nebula

nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_seyond/seyond_hw_interface.hpp

@@ -86,7 +86,8 @@ class SeyondHwInterface
   /// @brief Printing calibration configuration
   /// @param calibration_configuration CalibrationConfiguration for the checking
   /// @return Resulting status
-  Status GetCalibrationConfiguration(const CalibrationConfigurationBase & calibration_configuration);
+  Status GetCalibrationConfiguration(
+    const CalibrationConfigurationBase & calibration_configuration);
 
   /// @brief Setting sensor configuration
   /// @param sensor_configuration SensorConfiguration for this interface
@@ -101,13 +102,11 @@ class SeyondHwInterface
   /// @brief Registering callback for NebulaPackets
   /// @param scan_callback Callback function
   /// @return Resulting status
-  Status RegisterScanCallback(
-    std::function<void(std::vector<uint8_t> &)> scan_callback);
+  Status RegisterScanCallback(std::function<void(std::vector<uint8_t> &)> scan_callback);
 
   /// @brief Setting rclcpp::Logger
   /// @param node Logger
   void SetLogger(std::shared_ptr<rclcpp::Logger> logger);
-
 };
 }  // namespace drivers
 }  // namespace nebula

nebula_hw_interfaces/src/nebula_seyond_hw_interfaces/seyond_hw_interface.cpp

@@ -12,7 +12,6 @@ SeyondHwInterface::SeyondHwInterface()
 
 void SeyondHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
 {
-
 }
 
 Status SeyondHwInterface::SensorInterfaceStart()
@@ -31,7 +30,8 @@ Status SeyondHwInterface::SetSensorConfiguration(
   return Status::OK;
 }
 
-Status SeyondHwInterface::GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration)
+Status SeyondHwInterface::GetSensorConfiguration(
+  const SensorConfigurationBase & sensor_configuration)
 {
   return Status::ERROR_1;
 }
@@ -55,17 +55,14 @@ void SeyondHwInterface::SetTargetModel(int model)
 
 void SeyondHwInterface::PrintError(std::string error)
 {
-
 }
 
 void SeyondHwInterface::PrintDebug(std::string debug)
 {
-
 }
 
 void SeyondHwInterface::PrintInfo(std::string info)
 {
-
 }
 
 void SeyondHwInterface::SetLogger(std::shared_ptr<rclcpp::Logger> logger)

nebula_ros/include/nebula_ros/seyond/decoder_wrapper.hpp

@@ -44,7 +44,6 @@ class SeyondDecoderWrapper
   nebula::Status Status();
 
 private:
-
   void PublishCloud(
     std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
     const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher);
@@ -69,4 +68,4 @@ class SeyondDecoderWrapper
   std::shared_ptr<WatchdogTimer> cloud_watchdog_;
 };
 }  // namespace ros
-}  // namespace nebula
+}  // namespace nebula

nebula_ros/include/nebula_ros/seyond/hw_interface_wrapper.hpp

@@ -34,4 +34,4 @@ class SeyondHwInterfaceWrapper
   bool setup_sensor_;
 };
 }  // namespace ros
-}  // namespace nebula
+}  // namespace nebula

nebula_ros/include/nebula_ros/seyond/hw_monitor_wrapper.hpp

@@ -4,7 +4,6 @@
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <nebula_common/seyond/seyond_common.hpp>
-
 #include <nebula_hw_interfaces/nebula_hw_interfaces_seyond/seyond_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -26,9 +25,9 @@ using SeyondSensorConfiguration = nebula::drivers::SeyondSensorConfiguration;
 class SeyondHwMonitorWrapper
 {
 public:
-  SeyondHwMonitorWrapper(rclcpp::Node* const parent_node,
-                        const std::shared_ptr<SeyondHwInterface>& hw_interface,
-                        std::shared_ptr<const SeyondSensorConfiguration>& config);
+  SeyondHwMonitorWrapper(
+    rclcpp::Node * const parent_node, const std::shared_ptr<SeyondHwInterface> & hw_interface,
+    std::shared_ptr<const SeyondSensorConfiguration> & config);
 
   void OnConfigChange(const std::shared_ptr<const SeyondSensorConfiguration> & /* new_config */) {}
 
@@ -46,7 +45,7 @@ class SeyondHwMonitorWrapper
   /// @brief Get and store diagnostic info from sensor
   void FetchDiagnosticInfo();
 
-  rclcpp::Node* const parent_node_;
+  rclcpp::Node * const parent_node_;
   rclcpp::Logger logger_;
   nebula::Status status_;
   uint16_t diag_span_;
@@ -62,4 +61,4 @@ class SeyondHwMonitorWrapper
   std::mutex mtx_current_diag_info_;
 };
 }  // namespace ros
-}  // namespace nebula
+}  // namespace nebula

nebula_ros/include/nebula_ros/seyond/seyond_ros_wrapper.hpp

@@ -37,7 +37,6 @@ using SeyondCalibrationConfiguration = nebula::drivers::SeyondCalibrationConfigu
 
 class SeyondRosWrapper final : public rclcpp::Node
 {
-
 public:
   explicit SeyondRosWrapper(const rclcpp::NodeOptions & options);
   ~SeyondRosWrapper() noexcept {};
@@ -56,8 +55,7 @@ class SeyondRosWrapper final : public rclcpp::Node
   rcl_interfaces::msg::SetParametersResult OnParameterChange(
     const std::vector<rclcpp::Parameter> & p);
 
-  Status ValidateAndSetConfig(
-    std::shared_ptr<const SeyondSensorConfiguration> & new_config);
+  Status ValidateAndSetConfig(std::shared_ptr<const SeyondSensorConfiguration> & new_config);
 
   Status wrapper_status_;
 

nebula_ros/src/seyond/decoder_wrapper.cpp

@@ -7,16 +7,15 @@ namespace ros
 
 using namespace std::chrono_literals;
 
-SeyondDecoderWrapper::SeyondDecoderWrapper(rclcpp::Node* const parent_node,
-                                         const std::shared_ptr<SeyondHwInterface>& hw_interface,
-                                         std::shared_ptr<const SeyondSensorConfiguration>& config)
-  : status_(nebula::Status::NOT_INITIALIZED)
-  , logger_(parent_node->get_logger().get_child("SeyondDecoder"))
-  , hw_interface_(hw_interface)
-  , sensor_cfg_(config)
+SeyondDecoderWrapper::SeyondDecoderWrapper(
+  rclcpp::Node * const parent_node, const std::shared_ptr<SeyondHwInterface> & hw_interface,
+  std::shared_ptr<const SeyondSensorConfiguration> & config)
+: status_(nebula::Status::NOT_INITIALIZED),
+  logger_(parent_node->get_logger().get_child("SeyondDecoder")),
+  hw_interface_(hw_interface),
+  sensor_cfg_(config)
 {
-  if (!config)
-  {
+  if (!config) {
     throw std::runtime_error("SeyondDecoderWrapper cannot be instantiated without a valid config!");
   }
 
@@ -25,54 +24,56 @@ SeyondDecoderWrapper::SeyondDecoderWrapper(rclcpp::Node* const parent_node,
   driver_ptr_ = std::make_shared<SeyondDriver>(config, calibration_cfg_ptr_);
   status_ = driver_ptr_->GetStatus();
 
-  if (Status::OK != status_)
-  {
-    throw std::runtime_error((std::stringstream() << "Error instantiating decoder: " << status_).str());
+  if (Status::OK != status_) {
+    throw std::runtime_error(
+      (std::stringstream() << "Error instantiating decoder: " << status_).str());
   }
 
   // Publish packets only if HW interface is connected
-  if (hw_interface_)
-  {
+  if (hw_interface_) {
     current_scan_msg_ = std::make_unique<nebula_msgs::msg::NebulaPackets>();
-    packets_pub_ =
-        parent_node->create_publisher<nebula_msgs::msg::NebulaPackets>("nebula_packets", rclcpp::SensorDataQoS());
+    packets_pub_ = parent_node->create_publisher<nebula_msgs::msg::NebulaPackets>(
+      "nebula_packets", rclcpp::SensorDataQoS());
   }
 
   auto qos_profile = rmw_qos_profile_sensor_data;
-  auto pointcloud_qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
+  auto pointcloud_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 10), qos_profile);
 
-  nebula_points_pub_ = parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("nebula_points", pointcloud_qos);
+  nebula_points_pub_ =
+    parent_node->create_publisher<sensor_msgs::msg::PointCloud2>("nebula_points", pointcloud_qos);
 
   RCLCPP_INFO_STREAM(logger_, ". Wrapper=" << status_);
 
-  cloud_watchdog_ = std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
-    if (ok)
-      return;
-    RCLCPP_WARN_THROTTLE(logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
-  });
+  cloud_watchdog_ =
+    std::make_shared<WatchdogTimer>(*parent_node, 100'000us, [this, parent_node](bool ok) {
+      if (ok) return;
+      RCLCPP_WARN_THROTTLE(
+        logger_, *parent_node->get_clock(), 5000, "Missed pointcloud output deadline");
+    });
 }
 
 void SeyondDecoderWrapper::OnConfigChange(
-    const std::shared_ptr<const SeyondSensorConfiguration>& new_config)
+  const std::shared_ptr<const SeyondSensorConfiguration> & new_config)
 {
   std::lock_guard lock(mtx_driver_ptr_);
   auto new_driver = std::make_shared<SeyondDriver>(new_config, calibration_cfg_ptr_);
   driver_ptr_ = new_driver;
   sensor_cfg_ = new_config;
 }
 
-void SeyondDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
+void SeyondDecoderWrapper::ProcessCloudPacket(
+  std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg)
 {
   // ////////////////////////////////////////
   // Accumulate packets for recording
   // ////////////////////////////////////////
 
   // Accumulate packets for recording only if someone is subscribed to the topic (for performance)
-  if (hw_interface_ &&
-      (packets_pub_->get_subscription_count() > 0 || packets_pub_->get_intra_process_subscription_count() > 0))
-  {
-    if (current_scan_msg_->packets.size() == 0)
-    {
+  if (
+    hw_interface_ && (packets_pub_->get_subscription_count() > 0 ||
+                      packets_pub_->get_intra_process_subscription_count() > 0)) {
+    if (current_scan_msg_->packets.size() == 0) {
       current_scan_msg_->header.stamp = packet_msg->stamp;
     }
 
@@ -91,8 +92,7 @@ void SeyondDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::
     pointcloud = std::get<0>(pointcloud_ts);
   }
 
-  if (pointcloud == nullptr)
-  {
+  if (pointcloud == nullptr) {
     return;
   };
 
@@ -104,15 +104,14 @@ void SeyondDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::
   cloud_watchdog_->update();
 
   // Publish scan message only if it has been written to
-  if (current_scan_msg_ && !current_scan_msg_->packets.empty())
-  {
+  if (current_scan_msg_ && !current_scan_msg_->packets.empty()) {
     packets_pub_->publish(std::move(current_scan_msg_));
     current_scan_msg_ = std::make_unique<nebula_msgs::msg::NebulaPackets>();
   }
 
-  if (nebula_points_pub_->get_subscription_count() > 0 ||
-      nebula_points_pub_->get_intra_process_subscription_count() > 0)
-  {
+  if (
+    nebula_points_pub_->get_subscription_count() > 0 ||
+    nebula_points_pub_->get_intra_process_subscription_count() > 0) {
     auto ros_pc_msg_ptr = std::make_unique<sensor_msgs::msg::PointCloud2>();
     pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr);
     auto nanoseconds = std::chrono::duration_cast<std::chrono::nanoseconds>(
@@ -123,11 +122,11 @@ void SeyondDecoderWrapper::ProcessCloudPacket(std::unique_ptr<nebula_msgs::msg::
   }
 }
 
-void SeyondDecoderWrapper::PublishCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
-                                       const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr& publisher)
+void SeyondDecoderWrapper::PublishCloud(
+  std::unique_ptr<sensor_msgs::msg::PointCloud2> pointcloud,
+  const rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr & publisher)
 {
-  if (pointcloud->header.stamp.sec < 0)
-  {
+  if (pointcloud->header.stamp.sec < 0) {
     RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
   }
   pointcloud->header.frame_id = sensor_cfg_->frame_id;
@@ -138,12 +137,11 @@ nebula::Status SeyondDecoderWrapper::Status()
 {
   std::lock_guard lock(mtx_driver_ptr_);
 
-  if (!driver_ptr_)
-  {
+  if (!driver_ptr_) {
     return nebula::Status::NOT_INITIALIZED;
   }
 
   return driver_ptr_->GetStatus();
 }
 }  // namespace ros
-}  // namespace nebula
+}  // namespace nebula