Committing clang-format changes

vortexntnu · Mar 17, 2024 · 361ca46 · 361ca46
1 parent cc516d7
commit 361ca46
Showing 1 changed file with 48 additions and 46 deletions.
diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp
@@ -9,7 +9,7 @@ using std::placeholders::_1;
 constexpr double newton_to_gram_conversion_factor = 101.97162;
 
 bool started = false;
-//int8_t hardware_status = 0;
+// int8_t hardware_status = 0;
 uint8_t software_killswitch = 0;
 
 class ThrusterInterface : public rclcpp::Node {
@@ -21,15 +21,20 @@ class ThrusterInterface : public rclcpp::Node {
         std::bind(&ThrusterInterface::thrusterForcesCallback, this,
                   std::placeholders::_1));
 
-    publisher_ESC1 = this->create_publisher<std_msgs::msg::Float32>("/asv/temperature/ESC1", 10);
-    publisher_ESC2 = this->create_publisher<std_msgs::msg::Float32>("/asv/temperature/ESC2", 10);
-    publisher_ESC3 = this->create_publisher<std_msgs::msg::Float32>("/asv/temperature/ESC3", 10);
-    publisher_ESC4 = this->create_publisher<std_msgs::msg::Float32>("/asv/temperature/ESC4", 10);
-    publisher_status = this->create_publisher<std_msgs::msg::Int8>("/asv/status", 10);
+    publisher_ESC1 = this->create_publisher<std_msgs::msg::Float32>(
+        "/asv/temperature/ESC1", 10);
+    publisher_ESC2 = this->create_publisher<std_msgs::msg::Float32>(
+        "/asv/temperature/ESC2", 10);
+    publisher_ESC3 = this->create_publisher<std_msgs::msg::Float32>(
+        "/asv/temperature/ESC3", 10);
+    publisher_ESC4 = this->create_publisher<std_msgs::msg::Float32>(
+        "/asv/temperature/ESC4", 10);
+    publisher_status =
+        this->create_publisher<std_msgs::msg::Int8>("/asv/status", 10);
 
     timer_ = this->create_wall_timer(
-      std::chrono::seconds(1),
-      std::bind(&ThrusterInterface::publish_temperature_and_status, this));
+        std::chrono::seconds(1),
+        std::bind(&ThrusterInterface::publish_temperature_and_status, this));
   }
 
 private:
@@ -59,64 +64,61 @@ class ThrusterInterface : public rclcpp::Node {
     // SENDING
     send_status(software_killswitch, file);
     send_pwm(pwm_values, file);
-
-
   }
 
-  void publish_temperature_and_status()
-    {
+  void publish_temperature_and_status() {
 
-        // RECEIVING
+    // RECEIVING
 
-        //int file;
-        //init(file);
+    // int file;
+    // init(file);
 
-        //TEMPERATURE
+    // TEMPERATURE
 
-        std::vector<float> temperature = {22.04, 43.04, 34.99, 49.66};
+    std::vector<float> temperature = {22.04, 43.04, 34.99, 49.66};
 
-        //temperature = readFloatsFromI2C(file);
+    // temperature = readFloatsFromI2C(file);
 
-        for (size_t i = 0; i < temperature.size(); i++) {
-          std::cout << i << "temperature value = " << temperature[i] << std::endl;
-        }
+    for (size_t i = 0; i < temperature.size(); i++) {
+      std::cout << i << "temperature value = " << temperature[i] << std::endl;
+    }
 
-        //hardware_status = read_hardware_statusFromI2C(file);
-        //cout << "hardware status = " << (uint16_t)(hardware_status) << endl;
+    // hardware_status = read_hardware_statusFromI2C(file);
+    // cout << "hardware status = " << (uint16_t)(hardware_status) << endl;
 
-
-        auto message_ESC1 = std_msgs::msg::Float32();
-        auto message_ESC2 = std_msgs::msg::Float32();
-        auto message_ESC3 = std_msgs::msg::Float32();
-        auto message_ESC4 = std_msgs::msg::Float32();
+    auto message_ESC1 = std_msgs::msg::Float32();
+    auto message_ESC2 = std_msgs::msg::Float32();
+    auto message_ESC3 = std_msgs::msg::Float32();
+    auto message_ESC4 = std_msgs::msg::Float32();
 
-        message_ESC1.data = temperature[0];
-        message_ESC2.data = temperature[1];
-        message_ESC3.data = temperature[2];
-        message_ESC4.data = temperature[3];
+    message_ESC1.data = temperature[0];
+    message_ESC2.data = temperature[1];
+    message_ESC3.data = temperature[2];
+    message_ESC4.data = temperature[3];
 
-        RCLCPP_INFO(this->get_logger(), "Publishing temperature");
-        publisher_ESC1->publish(message_ESC1);
-        publisher_ESC2->publish(message_ESC2);
-        publisher_ESC3->publish(message_ESC3);
-        publisher_ESC4->publish(message_ESC4);
+    RCLCPP_INFO(this->get_logger(), "Publishing temperature");
+    publisher_ESC1->publish(message_ESC1);
+    publisher_ESC2->publish(message_ESC2);
+    publisher_ESC3->publish(message_ESC3);
+    publisher_ESC4->publish(message_ESC4);
 
-        //HARDWARE STATUS
+    // HARDWARE STATUS
 
-        int8_t hardware_status = 0;
+    int8_t hardware_status = 0;
 
-        auto message_status = std_msgs::msg::Int8();
+    auto message_status = std_msgs::msg::Int8();
 
-        message_status.data = hardware_status;
+    message_status.data = hardware_status;
 
-        RCLCPP_INFO(this->get_logger(), "Publishing status");
+    RCLCPP_INFO(this->get_logger(), "Publishing status");
 
-        publisher_status->publish(message_status);
+    publisher_status->publish(message_status);
 
-        //close(file);
-    }
+    // close(file);
+  }
 
-  rclcpp::Subscription<vortex_msgs::msg::ThrusterForces>::SharedPtr subscription_;
+  rclcpp::Subscription<vortex_msgs::msg::ThrusterForces>::SharedPtr
+      subscription_;
 
   rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr publisher_ESC1;
   rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr publisher_ESC2;