Fix code style issues with clang_format

Author: WATonomousAdmin

autonomy/interfacing/can/include/can_core.hpp

@@ -2,60 +2,59 @@
 #define CAN_CORE_HPP
 
 #include "rclcpp/rclcpp.hpp"
+#include <cstdint>
 #include <string>
 #include <vector>
-#include <cstdint>
 
-namespace autonomy
-{
+namespace autonomy {
 
 struct CanMessage {
-    uint32_t id;                    // CAN message ID
-    std::vector<uint8_t> data;      // Message data (up to 8 bytes for classic CAN)
-    uint8_t dlc;                    // Data Length Code
-    bool is_extended_id;            // Extended frame format flag
-    bool is_remote_frame;           // Remote transmission request flag
-    uint64_t timestamp_us;          // Timestamp in microseconds
+  uint32_t id;               // CAN message ID
+  std::vector<uint8_t> data; // Message data (up to 8 bytes for classic CAN)
+  uint8_t dlc;               // Data Length Code
+  bool is_extended_id;       // Extended frame format flag
+  bool is_remote_frame;      // Remote transmission request flag
+  uint64_t timestamp_us;     // Timestamp in microseconds
 };
 
 struct CanConfig {
-    std::string interface_name;     // CAN interface name (e.g., "can0")
-    std::string device_path;        // Device path for SLCAN (e.g., "/dev/ttyACM0")
-    std::string bustype;            // Bus type: "socketcan" or "slcan"
-    uint32_t bitrate;               // Bitrate in bps for arbitration phase
-    uint32_t data_bitrate;          // Data bitrate in bps for CAN-FD data phase
-    uint32_t receive_timeout_ms;    // Receive timeout in milliseconds
+  std::string interface_name;  // CAN interface name (e.g., "can0")
+  std::string device_path;     // Device path for SLCAN (e.g., "/dev/ttyACM0")
+  std::string bustype;         // Bus type: "socketcan" or "slcan"
+  uint32_t bitrate;            // Bitrate in bps for arbitration phase
+  uint32_t data_bitrate;       // Data bitrate in bps for CAN-FD data phase
+  uint32_t receive_timeout_ms; // Receive timeout in milliseconds
 };
 
 class CanCore {
 public:
-    CanCore(const rclcpp::Logger& logger);
-    
-    // CAN Interface Management
-    bool initialize(const CanConfig& config);
-    bool shutdown();
-    bool isInitialized() const;
-    
-    // Message Transmission
-    bool sendMessage(const CanMessage& message);
-    
-    // Message Reception
-    bool receiveMessage(CanMessage& message);
-    
+  CanCore(const rclcpp::Logger &logger);
+
+  // CAN Interface Management
+  bool initialize(const CanConfig &config);
+  bool shutdown();
+  bool isInitialized() const;
+
+  // Message Transmission
+  bool sendMessage(const CanMessage &message);
+
+  // Message Reception
+  bool receiveMessage(CanMessage &message);
+
 private:
-    rclcpp::Logger logger_;
-    
-    // Internal state
-    int socket_fd_;
-    bool initialized_;
-    bool connected_;
-    CanConfig config_;
-    
-    // Internal helper methods
-    bool setupSocketCan();
-    bool setupSlcan();
+  rclcpp::Logger logger_;
+
+  // Internal state
+  int socket_fd_;
+  bool initialized_;
+  bool connected_;
+  CanConfig config_;
+
+  // Internal helper methods
+  bool setupSocketCan();
+  bool setupSlcan();
 };
 
-}
+} // namespace autonomy
 
 #endif // CAN_CORE_HPP

autonomy/interfacing/can/include/can_node.hpp

@@ -1,16 +1,16 @@
 #ifndef CAN_NODE_HPP
 #define CAN_NODE_HPP
 
-#include "rclcpp/rclcpp.hpp"
+#include "can_core.hpp"
 #include "rclcpp/generic_subscription.hpp"
+#include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
-#include "can_core.hpp"
-#include <vector>
-#include <string>
 #include <memory>
+#include <string>
+#include <vector>
 
 struct TopicConfig {
-  // name of the topic, and the message type 
+  // name of the topic, and the message type
   std::string name;
   std::string type;
 };
@@ -23,18 +23,23 @@ class CanNode : public rclcpp::Node {
   autonomy::CanCore can_;
   std::vector<TopicConfig> topic_configs_;
   std::vector<std::shared_ptr<rclcpp::GenericSubscription>> subscribers_;
-  rclcpp::TimerBase::SharedPtr receive_timer_; // Timer to periodically check for CAN messages
-  
+  rclcpp::TimerBase::SharedPtr
+      receive_timer_; // Timer to periodically check for CAN messages
+
   // Methods
   void loadTopicConfigurations();
   void createSubscribers();
-  std::string discoverTopicType(const std::string& topic_name);
-  void topicCallback(std::shared_ptr<rclcpp::SerializedMessage> msg, const std::string& topic_name, const std::string& topic_type);
+  std::string discoverTopicType(const std::string &topic_name);
+  void topicCallback(std::shared_ptr<rclcpp::SerializedMessage> msg,
+                     const std::string &topic_name,
+                     const std::string &topic_type);
   void receiveCanMessages(); // Method to be called by the timer
 
   // Helper methods
-  uint32_t generateCanId(const std::string& topic_name);
-  std::vector<autonomy::CanMessage> createCanMessages(const std::string& topic_name, std::shared_ptr<rclcpp::SerializedMessage> ros_msg);
+  uint32_t generateCanId(const std::string &topic_name);
+  std::vector<autonomy::CanMessage>
+  createCanMessages(const std::string &topic_name,
+                    std::shared_ptr<rclcpp::SerializedMessage> ros_msg);
 };
 
 #endif // CAN_NODE_HPP