Committing clang-format changes

motion/thruster_interface/include/thruster_interface/thruster_interface.hpp

@@ -29,4 +29,3 @@ class ThrusterInterface {
   void publish_thrust_to_escs(std::vector<double> forces);
   float interpolate(float force);
 };
-

motion/thruster_interface/include/thruster_interface/thruster_interface_ros.hpp

@@ -1,30 +1,30 @@
 #pragma once
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <vortex_msgs/msg/pwm.hpp>
 #include <vortex_msgs/msg/thruster_forces.hpp>
-#include <ament_index_cpp/get_package_share_directory.hpp>
-
 
 #include <thruster_interface/thruster_interface.hpp>
 using std::placeholders::_1;
 
 class ThrusterInterfaceROS : public rclcpp::Node {
 private:
-  std::string mapping_file = ament_index_cpp::get_package_share_directory("thruster_interface") +
-                           "/config/ThrustMe_P1000_force_mapping.csv";
+  std::string mapping_file =
+      ament_index_cpp::get_package_share_directory("thruster_interface") +
+      "/config/ThrustMe_P1000_force_mapping.csv";
   ThrusterInterface thrusterInterface{mapping_file};
 
-  rclcpp::Subscription<vortex_msgs::msg::ThrusterForces>::SharedPtr subscription_;
+  rclcpp::Subscription<vortex_msgs::msg::ThrusterForces>::SharedPtr
+      subscription_;
   rclcpp::Publisher<vortex_msgs::msg::Pwm>::SharedPtr publisher_;
 
 public:
   ThrusterInterfaceROS() : Node("thruster_interface") {
     publisher_ = this->create_publisher<vortex_msgs::msg::Pwm>("pwm", 10);
     subscription_ = this->create_subscription<vortex_msgs::msg::ThrusterForces>(
-        "thrust/thruster_forces", 10, std::bind(&ThrusterInterfaceROS::thrust_callback, this, _1));
+        "thrust/thruster_forces", 10,
+        std::bind(&ThrusterInterfaceROS::thrust_callback, this, _1));
   }
   void thrust_callback(const vortex_msgs::msg::ThrusterForces::SharedPtr msg);
 };
-
-

motion/thruster_interface/src/thruster_interface_ros.cpp

@@ -2,49 +2,49 @@
 
 void ThrusterInterfaceROS::thrust_callback(
     const vortex_msgs::msg::ThrusterForces::SharedPtr msg) {
-    // Convert from Newton to grams
-    double newton_to_gram_conversion_factor = 101.97162;
-
-    std::vector<double> forces_in_grams = {
-        msg->thrust[0] * newton_to_gram_conversion_factor,
-        msg->thrust[1] * newton_to_gram_conversion_factor,
-        msg->thrust[2] * newton_to_gram_conversion_factor,
-        msg->thrust[3] * newton_to_gram_conversion_factor};
-
-    std::vector<int> pwm_values;
-    for (auto force : forces_in_grams) {
-        pwm_values.push_back(thrusterInterface.interpolate(force));
-    }
-
-    vortex_msgs::msg::Pwm pwm_msg;
-    // TODO: Get mapping and offsets from rosparam
-    // Give thrust to thruster 0: publish on pin = thruster_to_pin_map[0]
-    std::vector<int> thruster_to_pin_map = {1, 3, 2, 0};
-    std::vector<int> thruster_direction_map = {1, 1, 1, -1};
-    std::vector<int> pwm_offsets = {100, 100, 100, 100};
-
-    // Iterates through thruster 0 to 3, where 0 is front right, iterated clockwise
-    for (int i = 0; i < 4; i++) {
-
-        int center_pwm_value = 1500;
-        int offset_from_center_value =
-            pwm_values[i] - center_pwm_value + pwm_offsets[i];
-        int pwm_value_correct_direction =
-            center_pwm_value + thruster_direction_map[i] * offset_from_center_value;
-
-        int pwm_clamped = std::min(std::max(pwm_value_correct_direction, 1300),
-                                1700); // min 1100, max 1900
-        pwm_msg.positive_width_us.push_back(pwm_clamped);
-        pwm_msg.pins.push_back(thruster_to_pin_map[i]);
-    }
-
-    publisher_->publish(pwm_msg);
-
-    // thrusterInterface.publish_thrust_to_escs(forces_in_grams);
+  // Convert from Newton to grams
+  double newton_to_gram_conversion_factor = 101.97162;
+
+  std::vector<double> forces_in_grams = {
+      msg->thrust[0] * newton_to_gram_conversion_factor,
+      msg->thrust[1] * newton_to_gram_conversion_factor,
+      msg->thrust[2] * newton_to_gram_conversion_factor,
+      msg->thrust[3] * newton_to_gram_conversion_factor};
+
+  std::vector<int> pwm_values;
+  for (auto force : forces_in_grams) {
+    pwm_values.push_back(thrusterInterface.interpolate(force));
+  }
+
+  vortex_msgs::msg::Pwm pwm_msg;
+  // TODO: Get mapping and offsets from rosparam
+  // Give thrust to thruster 0: publish on pin = thruster_to_pin_map[0]
+  std::vector<int> thruster_to_pin_map = {1, 3, 2, 0};
+  std::vector<int> thruster_direction_map = {1, 1, 1, -1};
+  std::vector<int> pwm_offsets = {100, 100, 100, 100};
+
+  // Iterates through thruster 0 to 3, where 0 is front right, iterated
+  // clockwise
+  for (int i = 0; i < 4; i++) {
+
+    int center_pwm_value = 1500;
+    int offset_from_center_value =
+        pwm_values[i] - center_pwm_value + pwm_offsets[i];
+    int pwm_value_correct_direction =
+        center_pwm_value + thruster_direction_map[i] * offset_from_center_value;
+
+    int pwm_clamped = std::min(std::max(pwm_value_correct_direction, 1300),
+                               1700); // min 1100, max 1900
+    pwm_msg.positive_width_us.push_back(pwm_clamped);
+    pwm_msg.pins.push_back(thruster_to_pin_map[i]);
+  }
+
+  publisher_->publish(pwm_msg);
+
+  // thrusterInterface.publish_thrust_to_escs(forces_in_grams);
 }
 
-int main(int argc, char * argv[])
-{
+int main(int argc, char *argv[]) {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<ThrusterInterfaceROS>());
   rclcpp::shutdown();

motion/thruster_interface/tests/test_thruster_interface.cpp

@@ -116,18 +116,20 @@ std::vector<uint8_t> pwm_to_bytes(const std::vector<int> &pwm_values) {
 //     int pwm_thr_3 = interpolate(pwm_table, desired_force_thr_3);
 //     int pwm_thr_4 = interpolate(pwm_table, desired_force_thr_4);
 
-//     std::vector<int> pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3, pwm_thr_4};
-//     std::vector<uint8_t> pwm_bytes = pwm_to_bytes(pwm_values);
+//     std::vector<int> pwm_values = {pwm_thr_1, pwm_thr_2, pwm_thr_3,
+//     pwm_thr_4}; std::vector<uint8_t> pwm_bytes = pwm_to_bytes(pwm_values);
 
 //     int data_size = pwm_bytes.size();
 
 //     // Send the I2C message
 //     auto write_feedback = write(file, pwm_bytes.data(), data_size);
 //     if (write_feedback != data_size) {
-//       std::cerr << "Feedback: " << write_feedback << " Data size: " << data_size
+//       std::cerr << "Feedback: " << write_feedback << " Data size: " <<
+//       data_size
 //                 << ". Error sending data, ignoring...\n";
 //     } else {
-//       std::cout << "Feedback: " << write_feedback << " Data size: " << data_size
+//       std::cout << "Feedback: " << write_feedback << " Data size: " <<
+//       data_size
 //                 << " Data sent successfully!\n";
 //     }
 
@@ -153,8 +155,9 @@ std::vector<uint8_t> pwm_to_bytes(const std::vector<int> &pwm_values) {
 //   ThrusterInterface thruster_interface("mapping_file.txt");
 //   std::vector<int> pwm_values = {1000, 1500, 2000};
 //   std::vector<uint8_t> expected_bytes = {0x03, 0xE8, 0x05, 0xDC, 0x07, 0xD0};
-//   std::vector<uint8_t> actual_bytes = thruster_interface.pwm_to_bytes(pwm_values);
-//   EXPECT_EQ(expected_bytes, actual_bytes);
+//   std::vector<uint8_t> actual_bytes =
+//   thruster_interface.pwm_to_bytes(pwm_values); EXPECT_EQ(expected_bytes,
+//   actual_bytes);
 // }
 
 // TEST(ThrusterInterfaceTest, PublishThrustToEscsTest) {