🎨 style: format

henryzhuhr · Nov 13, 2023 · 7d87b05 · 7d87b05
1 parent 6a13fb1
commit 7d87b05
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Showing 17 changed files with 269 additions and 304 deletions.
diff --git a/.clang-format b/.clang-format
@@ -79,7 +79,7 @@ BraceWrapping:
   AfterStruct:     false
   AfterUnion:      false
   BeforeCatch:     false
-  BeforeElse:      false
+  BeforeElse:      true
   IndentBraces:    false
   SplitEmptyFunction: true
   SplitEmptyRecord: true
@@ -97,7 +97,7 @@ BreakAfterJavaFieldAnnotations: false
 BreakStringLiterals: true
 
 # === 每行字符的限制，0表示没有限制 ===
-# ColumnLimit:     200
+ColumnLimit:     120
 CommentPragmas:  '^ IWYU pragma:'
 CompactNamespaces: false
 

diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -1,40 +1,5 @@
 {
     "configurations": [
-        {
-            "name": "ROS2_Darwin",
-            "browse": {
-                "databaseFilename": "${default}",
-                "limitSymbolsToIncludedHeaders": false
-            },
-            "includePath": [
-                // ROS 不同版本的路径不一样 
-                // "/opt/ros/humble/include/**",
-                "/Users/henryzhu/mambaforge/envs/ros2_humble/include",
-                // 第三方库
-                "/usr/include/opencv4",
-                "libs/jsoncpp/include",
-                // 接口头文件
-                // "install/state_interfaces/include/state_interfaces",
-                "install/state_interfaces/include",
-                // 
-                "modules/common/system_state/include",
-                "modules/common/base_node/include",
-                //
-                "core/controller/motion_controller/serial/include",
-                "core/controller/motion_controller/include",
-                //
-                "core/manager/system_manager/include",
-                //
-                "modules/video_streamer_cpp/include"
-            ],
-            "defines": [
-                "DEBUG"
-            ],
-            "intelliSenseMode": "linux-gcc-x64",
-            "compilerPath": "/usr/bin/gcc",
-            "cStandard": "gnu11",
-            "cppStandard": "c++14"
-        },
         {
             "name": "ROS",
             "browse": {
@@ -43,32 +8,28 @@
             },
             "includePath": [
                 // ROS 不同版本的路径不一样 
-                // "/opt/ros/humble/include/**",
-                "/opt/ros/galactic/include/",
+                "/opt/ros/humble/include/**",
                 // 第三方库
-                "/usr/include/opencv4",
+                // "/usr/include/opencv4",
                 "libs/jsoncpp/include",
                 // 接口头文件
-                // "install/state_interfaces/include/state_interfaces",
-                "install/state_interfaces/include",
+                "install/state_interfaces/include/state_interfaces",
                 // 
-                "modules/common/system_state/include",
-                "modules/common/base_node/include",
-                //
-                "core/controller/motion_controller/serial/include",
                 "core/controller/motion_controller/include",
-                //
                 "core/manager/system_manager/include",
+                "core/base/base_node/include",
                 //
-                "modules/video_streamer_cpp/include"
+                "modules/video_streamer_cpp/include",
+                "modules/common/system_state/include"
             ],
             "defines": [
                 "DEBUG"
             ],
-            "intelliSenseMode": "linux-gcc-x64",
+            "intelliSenseMode": "gcc-arm64",
             "compilerPath": "/usr/bin/gcc",
             "cStandard": "gnu11",
-            "cppStandard": "c++14"
+            "cppStandard": "c++14",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
         }
     ],
     "version": 4

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -1,24 +1,32 @@
 {
+    "clangd.arguments": [
+        "--background-index",
+        "--compile-commands-dir=build",
+        "--query-driver=/usr/bin/clang++",
+        "-j=8",
+        "--clang-tidy",
+        "--all-scopes-completion",
+        "--completion-style=detailed",
+    ],
+    "ros.distro": "humble",
     "python.autoComplete.extraPaths": [
-        "install/interfaces/lib/python3.8/site-packages",
-        "install/state_interfaces/lib/python3.8/site-packages",
-        "modules/common/system_state_py",
-        "modules/common/base_node_py/base_node",
-        "/opt/ros/galactic/lib/python3.8/site-packages",
-        "/opt/ros/humble/lib/python3.10/site-packages"
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "install/interfaces/lib/python3.10/site-packages",
+        "install/state_interfaces/lib/python3.10/site-packages",
+        "core/manager/system_state_py/system_manager",
+        "core/base/base_node_py/base_node",
+        "modules/common/system_state_py"
     ],
     "python.analysis.extraPaths": [
-        "install/interfaces/lib/python3.8/site-packages",
-        "install/state_interfaces/lib/python3.8/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "install/interfaces/lib/python3.10/site-packages",
+        "install/state_interfaces/lib/python3.10/site-packages",
+        "core/manager/system_state_py/system_manager",
+        "core/base/base_node_py/base_node",
         "modules/common/system_state_py",
-        "modules/common/base_node_py/base_node",
-        "/opt/ros/galactic/lib/python3.8/site-packages",
-        "/opt/ros/humble/lib/python3.10/site-packages"
-
-    ],
-    "ros.distro": "humble",
-    "clangd.arguments": [
-        "--compile-commands-dir=${workspaceFolder}/build",
-        "--query-driver=/usr/bin/clang,/usr/bin/c++",
     ],
+    "files.associations": {
+        "string": "cpp"
+    },
+    "cmake.configureOnOpen": true,
 }
diff --git a/modules/common/node_template/app/node_template.cpp b/modules/common/node_template/app/node_template.cpp
@@ -1,8 +1,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include "base_node/base_node.hpp"
 
-int main(int argc, char **argv)
-{
+int main(int argc, char** argv) {
     rclcpp::init(argc, argv);
     auto node = std::make_shared<BaseNode>("base_node"); // 设置节点名称
 
@@ -13,23 +12,22 @@ int main(int argc, char **argv)
      * 参考 `SystemState::StateGroup` 和 `SystemState::StateID`
      */
     auto init_error = node->InitNode(
-        static_cast<uint8_t>(SystemState::StateGroup::SENSOR),  // 分组为传感器
+        static_cast<uint8_t>(SystemState::StateGroup::SENSOR), // 分组为传感器
         static_cast<uint8_t>(SystemState::StateID::Sensor::JOY) // ID为手柄
     );
 
-    if (init_error == 0)
-    {
-        RCLCPP_INFO(node->get_logger(), "%s[INIT NODE] Successfully init:%s %s", //
-                    SystemState::Color::LGREEN, SystemState::Color::DEFAULT,       //
+    if (init_error == 0) {
+        RCLCPP_INFO(node->get_logger(),
+                    "%s[INIT NODE] Successfully init:%s %s",                 //
+                    SystemState::Color::LGREEN, SystemState::Color::DEFAULT, //
                     node->get_name());
         rclcpp::spin(node);
-    }
-    else
-    {
-        RCLCPP_FATAL(node->get_logger(), "%s[INIT NODE] Init Node Error (%ld)%s. Please Check Group and id in \"InitNode()\"", //
-                     SystemState::Color::LRED,                                                                                 //
-                     init_error,
-                     SystemState::Color::DEFAULT);
+    } else {
+        RCLCPP_FATAL(node->get_logger(),
+                     "%s[INIT NODE] Init Node Error (%ld)%s. Please Check "
+                     "Group and id in \"InitNode()\"", //
+                     SystemState::Color::LRED,         //
+                     init_error, SystemState::Color::DEFAULT);
     }
     rclcpp::shutdown();
     return 0;

diff --git a/modules/common/system_state/CMakeLists.txt b/modules/common/system_state/CMakeLists.txt
@@ -1,10 +1,18 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(system_state)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)

diff --git a/modules/common/system_state/include/system_state/error_code.hpp b/modules/common/system_state/include/system_state/error_code.hpp
@@ -1,54 +1,53 @@
 #ifndef COMMON__SYSTEM_STATE__ERROR_CODE_HPP
 #define COMMON__SYSTEM_STATE__ERROR_CODE_HPP
 
-namespace SystemState
-{
-    /**
-     * @brief 错误码 (uint64_t)
-     */
-    enum class ErrorCode : uint64_t
-    {
-        NO_ERROR = 0,                 // 没有错误
-        STATE_UPDATE_GROUP_OVERFLOW, // 系统状态更新时，分组超出范围
-        STATE_UPDATE_GROUP_NOT_FOUND, // 系统状态更新时，未找到对应的状态分组
-        STATE_UPDATE_ID_OVERFLOW,     // 系统状态更新时，状态ID超出范围
-        STATE_UPDATE_ID_NOT_FOUND,     // 系统状态更新时，未找到对应的状态
+#include <cstdint>
+namespace SystemState {
+/**
+ * @brief 错误码 (uint64_t)
+ */
+enum class ErrorCode : uint64_t {
+    NO_ERROR = 0,                // 没有错误
+    STATE_UPDATE_GROUP_OVERFLOW, // 系统状态更新时，分组超出范围
+    STATE_UPDATE_GROUP_NOT_FOUND, // 系统状态更新时，未找到对应的状态分组
+    STATE_UPDATE_ID_OVERFLOW, // 系统状态更新时，状态ID超出范围
+    STATE_UPDATE_ID_NOT_FOUND, // 系统状态更新时，未找到对应的状态
 
-        // 文件相关错误码
-        FILE_NOT_FOUND, // 文件未找到
+    // 文件相关错误码
+    FILE_NOT_FOUND, // 文件未找到
 
-        // 解析配置错误码
-        CONFIG__KEY_NOT_FOUND, // 配置文件中未找到对应的key
+    // 解析配置错误码
+    CONFIG__KEY_NOT_FOUND, // 配置文件中未找到对应的key
 
-        // ROS相关错误
-        ROS_RCLCPP_NOT_INIT, // ROS rclcpp未初始化
+    // ROS相关错误
+    ROS_RCLCPP_NOT_INIT, // ROS rclcpp未初始化
 
-        // 串口相关错误码
-        SERIAL_PORT_NOT_FOUND,      // 串口未找到
-        SERIAL_OPEN_FAILED,         // 串口打开失败
-        SERIAL_WRITE_FAILED,        // 串口写入失败
-        SERIAL_READ_FAILED,         // 串口读取失败
-        SERIAL_TIMEOUT,             // 串口超时
-        SERIAL_DATA_ERROR,          // 串口数据错误
-        SERIAL_DATA_LENGTH_ERROR,   // 串口数据长度错误
-        SERIAL_DATA_CRC_ERROR,      // 串口数据CRC校验错误
-        SERIAL_DATA_ID_ERROR,       // 串口数据ID错误
-        SERIAL_DATA_TYPE_ERROR,     // 串口数据类型错误
-        SERIAL_DATA_VALUE_ERROR,    // 串口数据值错误
-        SERIAL_DATA_NOT_FOUND,      // 串口数据未找到
-        SERIAL_DATA_NOT_INIT,       // 串口数据未初始化
-        SERIAL_DATA_NOT_SUPPORT,    // 串口数据不支持
-        SERIAL_DATA_NOT_MATCH,      // 串口数据不匹配
-        SERIAL_DATA_NOT_ENOUGH,     // 串口数据不足
-        SERIAL_DATA_OVERFLOW,       // 串口数据溢出
-        SERIAL_DATA_NOT_READY,      // 串口数据未准备好
-        SERIAL_DATA_NOT_OPEN,       // 串口数据未打开
-        SERIAL_DATA_NOT_CONNECTED,  // 串口数据未连接
-        SERIAL_DATA_NOT_CONFIGURED, // 串口数据未配置
-        SERIAL_DATA_NOT_STARTED,    // 串口数据未启动
-        SERIAL_DATA_NOT_STOPPED,    // 串口数据未停止
-        SERIAL_UNKOOWN_ERROR,       // 串口未知错误
-    };
-}
+    // 串口相关错误码
+    SERIAL_PORT_NOT_FOUND,      // 串口未找到
+    SERIAL_OPEN_FAILED,         // 串口打开失败
+    SERIAL_WRITE_FAILED,        // 串口写入失败
+    SERIAL_READ_FAILED,         // 串口读取失败
+    SERIAL_TIMEOUT,             // 串口超时
+    SERIAL_DATA_ERROR,          // 串口数据错误
+    SERIAL_DATA_LENGTH_ERROR,   // 串口数据长度错误
+    SERIAL_DATA_CRC_ERROR,      // 串口数据CRC校验错误
+    SERIAL_DATA_ID_ERROR,       // 串口数据ID错误
+    SERIAL_DATA_TYPE_ERROR,     // 串口数据类型错误
+    SERIAL_DATA_VALUE_ERROR,    // 串口数据值错误
+    SERIAL_DATA_NOT_FOUND,      // 串口数据未找到
+    SERIAL_DATA_NOT_INIT,       // 串口数据未初始化
+    SERIAL_DATA_NOT_SUPPORT,    // 串口数据不支持
+    SERIAL_DATA_NOT_MATCH,      // 串口数据不匹配
+    SERIAL_DATA_NOT_ENOUGH,     // 串口数据不足
+    SERIAL_DATA_OVERFLOW,       // 串口数据溢出
+    SERIAL_DATA_NOT_READY,      // 串口数据未准备好
+    SERIAL_DATA_NOT_OPEN,       // 串口数据未打开
+    SERIAL_DATA_NOT_CONNECTED,  // 串口数据未连接
+    SERIAL_DATA_NOT_CONFIGURED, // 串口数据未配置
+    SERIAL_DATA_NOT_STARTED,    // 串口数据未启动
+    SERIAL_DATA_NOT_STOPPED,    // 串口数据未停止
+    SERIAL_UNKOOWN_ERROR,       // 串口未知错误
+};
+} // namespace SystemState
 
 #endif // COMMON__SYSTEM_STATE__ERROR_CODE_HPP
diff --git a/modules/common/system_state/include/system_state/services.hpp b/modules/common/system_state/include/system_state/services.hpp
@@ -3,12 +3,11 @@
 
 #include <string>
 
-namespace SystemState
-{
-    namespace services
-    {
-        const std::string update_state = "__server__update_system_state"; // 系统状态更新的服务名称
-    } // namespace services
-
-} // namespace system_state
+namespace SystemState {
+namespace services {
+// clang-format off
+const std::string update_state = "__server__update_system_state"; // 系统状态更新的服务名称
+// clang-format on
+} // namespace services
+} // namespace SystemState
 #endif // COMMON__SYSTEM_STATE__SERVICES_HPP