ros formatting

antbono · Apr 12, 2024 · de060d7 · de060d7
1 parent 6ddfa48
commit de060d7
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diff --git a/.github/workflows/build_and_test_humble.yaml b/.github/workflows/build_and_test_humble.yaml
@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Build (humble)
+name: Build and test (humble)
 
 # Controls when the action will run.
 on:
@@ -28,16 +28,10 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
-        #with:
-        #  use-ros2-testing: true
+        with:
+          use-ros2-testing: true
       - uses: ros-tooling/[email protected]
         with:
-          skip-tests: true
+        #skip-tests: true
           target-ros2-distro: humble
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos
diff --git a/.github/workflows/build_and_test_iron.yaml b/.github/workflows/build_and_test_iron.yaml
@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Build (iron)
+name: Build and test (iron)
 
 # Controls when the action will run.
 on:
@@ -28,16 +28,10 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
-        #with:
-        # use-ros2-testing: true
+        with:
+          use-ros2-testing: true
       - uses: ros-tooling/[email protected]
         with:
-          skip-tests: true
+        #skip-tests: true
           target-ros2-distro: iron
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
           vcs-repo-file-url: dependencies.repos
diff --git a/.github/workflows/build_and_test_rolling.yaml b/.github/workflows/build_and_test_rolling.yaml
@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Build (rolling)
+name: Build and test (rolling)
 
 # Controls when the action will run.
 on:
@@ -32,6 +32,6 @@ jobs:
           use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@master
         with:
-          skip-tests: true
+        #skip-tests: true
           target-ros2-distro: rolling
           vcs-repo-file-url: dependencies.repos
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
-[![Build (humble)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml)
-[![Build (iron)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml)
-[![Build (rolling)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml)
+[![Build and test (humble)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_humble.yaml)
+[![Build and test (iron)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_iron.yaml)
+[![Build and test (rolling)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml/badge.svg)](https://github.com/antbono/nao_led/actions/workflows/build_and_test_rolling.yaml)
 
 # nao_led
 

diff --git a/nao_led_server/include/nao_led_server/led_action_client.hpp b/nao_led_server/include/nao_led_server/led_action_client.hpp
@@ -44,42 +44,41 @@
 
 #include "std_msgs/msg/color_rgba.hpp"
 
-namespace nao_led_action_client {
-
-class LedsPlayActionClient : public rclcpp::Node {
-  public:
-	explicit LedsPlayActionClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
-	virtual ~LedsPlayActionClient();
-
-	void eyesStatic( bool flag );
-	void headStatic( bool flag );
-	void earsStatic( bool flag );
-	void chestStatic( bool flag );
-	void earsLoop( bool flag );
-	void headLoop( bool flag );
-	void eyesLoop( bool flag );
-
-  private:
-
-	void goalResponseCallback(
-	    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr & goal_handle);
-	void feedbackCallback(
-	    rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
-	    const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
-	void resultCallback(
-	    const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult & result);
-
-
-	rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr client_ptr_;
-
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr head_goal_handle_;
-	//std::shared_future<nao_led_interfaces::action::LedsPlay::Impl::CancelGoalService::Response::SharedPtr> head_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr eyes_goal_handle_;
-	rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr ears_goal_handle_;
-
-
-}; // LedsPlayActionClient
-
-} // nao_led_action_client
-
-#endif // NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_
+namespace nao_led_action_client
+{
+
+class LedsPlayActionClient : public rclcpp::Node
+{
+public:
+  explicit LedsPlayActionClient(const rclcpp::NodeOptions& options = rclcpp::NodeOptions{});
+  virtual ~LedsPlayActionClient();
+
+  void eyesStatic(bool flag);
+  void headStatic(bool flag);
+  void earsStatic(bool flag);
+  void chestStatic(bool flag);
+  void earsLoop(bool flag);
+  void headLoop(bool flag);
+  void eyesLoop(bool flag);
+
+private:
+  void goalResponseCallback(
+      const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr& goal_handle);
+  void feedbackCallback(rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr,
+                        const std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Feedback> feedback);
+  void
+  resultCallback(const rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::WrappedResult& result);
+
+  rclcpp_action::Client<nao_led_interfaces::action::LedsPlay>::SharedPtr client_ptr_;
+
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr head_goal_handle_;
+  // std::shared_future<nao_led_interfaces::action::LedsPlay::Impl::CancelGoalService::Response::SharedPtr>
+  // head_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr eyes_goal_handle_;
+  rclcpp_action::ClientGoalHandle<nao_led_interfaces::action::LedsPlay>::SharedPtr ears_goal_handle_;
+
+};  // LedsPlayActionClient
+
+}  // namespace nao_led_action_client
+
+#endif  // NAO_LED_SERVER__LED_ACTION_CLIENT_HPP_
diff --git a/nao_led_server/include/nao_led_server/led_action_server.hpp b/nao_led_server/include/nao_led_server/led_action_server.hpp
@@ -21,9 +21,9 @@
 //#include <vector>
 #include <array>
 //#include <chrono>
-#include <string>     // std::string, std::stof
+#include <string>  // std::string, std::stof
 #include <cstring>
-#include <iostream>   // std::cout
+#include <iostream>  // std::cout
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
@@ -38,80 +38,70 @@
 #include "nao_lola_command_msgs/msg/right_foot_led.hpp"
 #include "nao_lola_command_msgs/msg/left_foot_led.hpp"
 
-
 #include "nao_led_interfaces/msg/led_indexes.hpp"
 #include "nao_led_interfaces/msg/led_modes.hpp"
 #include "nao_led_interfaces/action/leds_play.hpp"
 
 #include "std_msgs/msg/color_rgba.hpp"
 
-
-namespace nao_led_action_server 
+namespace nao_led_action_server
 {
 
 using LedsPlay = nao_led_interfaces::action::LedsPlay;
 using GoalHandleLedsPlay = rclcpp_action::ServerGoalHandle<LedsPlay>;
 using LedIndexes = nao_led_interfaces::msg::LedIndexes;
 using LedModes = nao_led_interfaces::msg::LedModes;
 
-
-class LedsPlayActionServer : public rclcpp::Node 
+class LedsPlayActionServer : public rclcpp::Node
 {
-  public:
-	explicit LedsPlayActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
-	virtual ~LedsPlayActionServer();
-
-  private:
-
-	rclcpp_action::Server<nao_led_interfaces::action::LedsPlay>::SharedPtr action_server_;
-	std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle_;
-
-
-	rclcpp::Publisher<nao_lola_command_msgs::msg::HeadLeds>::SharedPtr        head_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::RightEyeLeds>::SharedPtr    right_eye_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEyeLeds>::SharedPtr     left_eye_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::RightEarLeds>::SharedPtr    right_ear_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEarLeds>::SharedPtr     left_ear_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::ChestLed>::SharedPtr        chest_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::RightFootLed>::SharedPtr    right_foot_pub_;
-	rclcpp::Publisher<nao_lola_command_msgs::msg::LeftFootLed>::SharedPtr     left_foot_pub_;
-
-	std_msgs::msg::ColorRGBA color_off_;
-	//color_off_.r=0.0; color_off_.g=0.0; color_off_.b=0.0;
-	nao_led_interfaces::msg::LedIndexes led_indexes_msg_;
-	nao_led_interfaces::msg::LedModes led_modes_msg_;
-
-
-	rclcpp_action::GoalResponse handleGoal(
-		const rclcpp_action::GoalUUID & uuid,
-		std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Goal> goal);
-
-	rclcpp_action::CancelResponse handleCancel( 
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
-
-	void handleAccepted(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
-
-	void execute(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
-
-	void steadyMode(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle, 
-		std::array<uint8_t, 2> & leds, 
-		float frequency,
-        std::array<std_msgs::msg::ColorRGBA, 8> & colors, std::array<float, 12> & intensities);
-
-	bool blinkingMode(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
-	 	std::array<uint8_t, 2> & leds, float frequency,
-    	std::array<std_msgs::msg::ColorRGBA, 8> & colors);
-
-	bool loopMode(
-		const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
-	 	std::array<uint8_t, 2> & leds, float frequency,
-        std::array<std_msgs::msg::ColorRGBA, 8> & colors);
+public:
+  explicit LedsPlayActionServer(const rclcpp::NodeOptions& options = rclcpp::NodeOptions{});
+  virtual ~LedsPlayActionServer();
+
+private:
+  rclcpp_action::Server<nao_led_interfaces::action::LedsPlay>::SharedPtr action_server_;
+  std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle_;
+
+  rclcpp::Publisher<nao_lola_command_msgs::msg::HeadLeds>::SharedPtr head_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::RightEyeLeds>::SharedPtr right_eye_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEyeLeds>::SharedPtr left_eye_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::RightEarLeds>::SharedPtr right_ear_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::LeftEarLeds>::SharedPtr left_ear_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::ChestLed>::SharedPtr chest_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::RightFootLed>::SharedPtr right_foot_pub_;
+  rclcpp::Publisher<nao_lola_command_msgs::msg::LeftFootLed>::SharedPtr left_foot_pub_;
+
+  std_msgs::msg::ColorRGBA color_off_;
+  // color_off_.r=0.0; color_off_.g=0.0; color_off_.b=0.0;
+  nao_led_interfaces::msg::LedIndexes led_indexes_msg_;
+  nao_led_interfaces::msg::LedModes led_modes_msg_;
+
+  rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID& uuid,
+                                         std::shared_ptr<const nao_led_interfaces::action::LedsPlay::Goal> goal);
+
+  rclcpp_action::CancelResponse handleCancel(
+      const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
+
+  void handleAccepted(
+      const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
+
+  void
+  execute(const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle);
+
+  void
+  steadyMode(const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
+             std::array<uint8_t, 2>& leds, float frequency, std::array<std_msgs::msg::ColorRGBA, 8>& colors,
+             std::array<float, 12>& intensities);
+
+  bool
+  blinkingMode(const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
+               std::array<uint8_t, 2>& leds, float frequency, std::array<std_msgs::msg::ColorRGBA, 8>& colors);
+
+  bool
+  loopMode(const std::shared_ptr<rclcpp_action::ServerGoalHandle<nao_led_interfaces::action::LedsPlay>> goal_handle,
+           std::array<uint8_t, 2>& leds, float frequency, std::array<std_msgs::msg::ColorRGBA, 8>& colors);
 };
 
-}
+}  // namespace nao_led_action_server
 
 #endif  // NAO_LED_SERVER__LED_ACTION_SERVER_HPP_