Fix Code Style On base_station_poc (#2192)

automated style fixes

Co-authored-by: N8BWert <[email protected]>

soccer/src/soccer/radio/network_radio.cpp

@@ -16,9 +16,7 @@ using ip::udp;
 
 namespace radio {
 
-NetworkRadio::NetworkRadio()
-    : base_station_socket_(io_service_),
-      send_buffers_(kNumShells) {
+NetworkRadio::NetworkRadio() : base_station_socket_(io_service_), send_buffers_(kNumShells) {
     base_station_socket_.open(udp::v4());
     base_station_socket_.bind(udp::endpoint(udp::v4(), kBaseStationBindPort));
 
@@ -30,20 +28,19 @@ void NetworkRadio::start_receive() {
         boost::asio::buffer(robot_status_buffer_), robot_status_endpoint_,
         [this](const boost::system::error_code& error, size_t num_bytes) {
             receive_robot_status(error, num_bytes);
-        }
-    );
+        });
 
     base_station_socket_.async_receive_from(
         boost::asio::buffer(alive_robots_buffer_), alive_robots_endpoint_,
         [this](const boost::system::error_code& error, size_t num_bytes) {
             receive_alive_robots(error, num_bytes);
-        }
-    );
+        });
 }
 
-void NetworkRadio::send_control_message(uint8_t robot_id, const rj_msgs::msg::MotionSetpoint& motion,
-                        const rj_msgs::msg::ManipulatorSetpoint& manipulator,
-                        strategy::Positions role) {
+void NetworkRadio::send_control_message(uint8_t robot_id,
+                                        const rj_msgs::msg::MotionSetpoint& motion,
+                                        const rj_msgs::msg::ManipulatorSetpoint& manipulator,
+                                        strategy::Positions role) {
     // Build the control packet for this robot.
     std::array<uint8_t, sizeof(rtp::ControlMessage)>& forward_packet_buffer =
         send_buffers_[robot_id];
@@ -59,8 +56,7 @@ void NetworkRadio::send_control_message(uint8_t robot_id, const rj_msgs::msg::Mo
             if (static_cast<bool>(error)) {
                 SPDLOG_ERROR("Error Sending: {}", error.message());
             }
-        }
-    );
+        });
 }
 
 void NetworkRadio::poll_receive() {

soccer/src/soccer/radio/network_radio.hpp

@@ -29,9 +29,9 @@ class NetworkRadio : public Radio {
 protected:
     // Send Control Message through the Base Station to the Robots
     void send_control_message(uint8_t robot_id, const rj_msgs::msg::MotionSetpoint& motion,
-              const rj_msgs::msg::ManipulatorSetpoint& manipulator,
-              strategy::Positions role) override;
-    
+                              const rj_msgs::msg::ManipulatorSetpoint& manipulator,
+                              strategy::Positions role) override;
+
     // Poll the asynchronous boost::asio receiver
     void poll_receive() override;
 
@@ -42,23 +42,23 @@ class NetworkRadio : public Radio {
     /**
      * @brief Setup the base_station_socket_ to receive robot status and alive robot messages
      * from the base station
-     * 
+     *
      */
     void start_receive();
 
     /**
      * @brief Parse the alive robots from a packet received via the base station.
-     * 
-     * @param error 
-     * @param num_bytes 
+     *
+     * @param error
+     * @param num_bytes
      */
     void receive_robot_status(const boost::system::error_code& error, size_t num_bytes);
 
     /**
      * @brief Parse the alive robots from a packet received via the base station.
-     * 
-     * @param error 
-     * @param num_bytes 
+     *
+     * @param error
+     * @param num_bytes
      */
     void receive_alive_robots(const boost::system::error_code& error, size_t num_bytes);
 

soccer/src/soccer/radio/radio.cpp

@@ -41,8 +41,8 @@ Radio::Radio()
             });
     }
 
-    alive_robots_pub_ = create_publisher<rj_msgs::msg::AliveRobots>(
-        "/alive_robots", rclcpp::QoS(1));
+    alive_robots_pub_ =
+        create_publisher<rj_msgs::msg::AliveRobots>("/alive_robots", rclcpp::QoS(1));
 
     tick_timer_ = create_wall_timer(std::chrono::milliseconds(100), [this]() { tick(); });
 }

soccer/src/soccer/radio/radio.hpp

@@ -6,13 +6,13 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <rj_constants/topic_names.hpp>
+#include <rj_msgs/msg/alive_robots.hpp>
 #include <rj_msgs/msg/manipulator_setpoint.hpp>
 #include <rj_msgs/msg/motion_setpoint.hpp>
 #include <rj_msgs/msg/robot_status.hpp>
 #include <rj_msgs/msg/team_color.hpp>
 #include <rj_param_utils/param.hpp>
 #include <rj_param_utils/ros2_local_param_provider.hpp>
-#include <rj_msgs/msg/alive_robots.hpp>
 
 #include "robot_intent.hpp"
 #include "robot_status.hpp"
@@ -29,7 +29,7 @@ DECLARE_FLOAT64(kRadioParamModule, timeout);
  * @details This is the abstract superclass for NetworkRadio and SimRadio, which do
  * the actual work - this just declares the interface and handles sending stop commands when no new
  * commands come in for a while.
- * 
+ *
  * The radio should handle:
  *  1. Sending Control Messages to the Robots
  *      * Alive Robots should be receiving real commands
@@ -44,52 +44,51 @@ class Radio : public rclcpp::Node {
 protected:
     /**
      * @brief Send a control message to the corresponding robot.
-     * 
+     *
      * @param robot_id The robot to send to
-     * @param motion The (x (m/s), y (m/s), z (rad/s)) velocities for the robot to move at 
+     * @param motion The (x (m/s), y (m/s), z (rad/s)) velocities for the robot to move at
      * @param manipulator The Shoot Mode, Trigger Mode, Kick Speed, and Dribbler Speed for the Robot
      * @param role The position for the robot
      */
     virtual void send_control_message(uint8_t robot_id, const rj_msgs::msg::MotionSetpoint& motion,
-                                     const rj_msgs::msg::ManipulatorSetpoint& manipulator,
-                                     strategy::Positions role) = 0;
+                                      const rj_msgs::msg::ManipulatorSetpoint& manipulator,
+                                      strategy::Positions role) = 0;
 
     /**
      * @brief Poll the receiver service for Messages.
-     * 
+     *
      */
     virtual void poll_receive() = 0;
 
     /**
      * @brief Switch the team this radio is sending data to.
-     * 
-     * @param blue_team 
+     *
+     * @param blue_team
      */
     virtual void switch_team(bool blue_team) = 0;
 
     /**
      * @brief Wrapper over the local publisher to publish a robot status for a given robot
-     * 
+     *
      * @param robot_id The robot id of the robot, whose status to publish
      * @param robot_status The status of the robot
      */
     void publish_robot_status(int robot_id, const rj_msgs::msg::RobotStatus& robot_status);
 
     /**
      * @brief Wrapper over the private publisher to publish a message containing alive robots
-     * 
+     *
      * @param alive_robots A message containing the alive robots
      */
     void publish_alive_robots(const rj_msgs::msg::AliveRobots& alive_robots);
 
     const bool blue_team();
 
-
 private:
     /**
      * @brief Poll the receiver and send empty motion commands to robots that software has
      * not updated for a long time.
-     * 
+     *
      */
     void tick();
     // Time between consecutive calls to tick().
@@ -106,7 +105,7 @@ class Radio : public rclcpp::Node {
 
     // Ros publisher to update alive robots
     rclcpp::Publisher<rj_msgs::msg::AliveRobots>::SharedPtr alive_robots_pub_;
-        
+
     // Ros subscribers to receive velocity commands, which are sent to the robot
     std::array<rclcpp::Subscription<rj_msgs::msg::MotionSetpoint>::SharedPtr, kNumShells>
         motion_subs_;
@@ -115,8 +114,8 @@ class Radio : public rclcpp::Node {
     // Cached last velocity command
     std::array<rj_msgs::msg::MotionSetpoint::SharedPtr, kNumShells> motions_;
 
-    // Ros subscribers to receive auxillary control (i.e. shoot_mode, trigger_mode, kick_speed, and dribbler_speed)
-    // which are stored and sent to the robot
+    // Ros subscribers to receive auxillary control (i.e. shoot_mode, trigger_mode, kick_speed, and
+    // dribbler_speed) which are stored and sent to the robot
     std::array<rclcpp::Subscription<rj_msgs::msg::ManipulatorSetpoint>::SharedPtr, kNumShells>
         manipulator_subs_;
     // Cached auxillary control information

soccer/src/soccer/radio/sim_radio.cpp

@@ -99,7 +99,7 @@ SimRadio::SimRadio(bool blue_team)
         alive_message.alive_robots = alive_robots_;
         publish_alive_robots(alive_message);
     });
-    
+
     for (uint8_t robot_id = 0; robot_id < kNumShells; robot_id++) {
         alive_robots_[robot_id] = true;
     }
@@ -120,8 +120,8 @@ SimRadio::SimRadio(bool blue_team)
 }
 
 void SimRadio::send_control_message(uint8_t robot_id, const rj_msgs::msg::MotionSetpoint& motion,
-                    const rj_msgs::msg::ManipulatorSetpoint& manipulator,
-                    strategy::Positions role) {
+                                    const rj_msgs::msg::ManipulatorSetpoint& manipulator,
+                                    strategy::Positions role) {
     RobotControl sim_packet;
 
     // Send a sim packet with a single robot. The simulator can handle many robots, but our commands

soccer/src/soccer/radio/sim_radio.hpp

@@ -22,10 +22,10 @@ class SimRadio : public Radio {
     SimRadio(bool blue_team = false);
 
 protected:
-    // 
+    //
     void send_control_message(uint8_t robot_id, const rj_msgs::msg::MotionSetpoint& motion,
-              const rj_msgs::msg::ManipulatorSetpoint& manipulator,
-              strategy::Positions role) override;
+                              const rj_msgs::msg::ManipulatorSetpoint& manipulator,
+                              strategy::Positions role) override;
 
     // Poll the asynchronous receiver
     void poll_receive() override;