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refactor(tier4_state_rviz_plugin): apply clang-tidy #1589

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merged 8 commits into from
Aug 15, 2022
Merged

refactor(tier4_state_rviz_plugin): apply clang-tidy #1589

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e14f173
fix: clang-tidy for tier4_state_rviz_plugin
h-ohta Aug 15, 2022
bd578dd
ci(pre-commit): autofix
pre-commit-ci[bot] Aug 15, 2022
e8efa1e
Update common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
h-ohta Aug 15, 2022
3bcaa97
Update common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
h-ohta Aug 15, 2022
5cf5707
ci(pre-commit): autofix
pre-commit-ci[bot] Aug 15, 2022
bc61ddb
Update common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
h-ohta Aug 15, 2022
2ede938
fix: delete NOLINT
h-ohta Aug 15, 2022
01d0a95
ci(pre-commit): autofix
pre-commit-ci[bot] Aug 15, 2022
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37 changes: 18 additions & 19 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -287,8 +287,10 @@ void AutowareStatePanel::onClickVelocityLimit()

void AutowareStatePanel::onClickAutowareEngage()
{
auto req = std::make_shared<tier4_external_api_msgs::srv::Engage::Request>();
req->engage = current_engage_ ? false : true;
using tier4_external_api_msgs::srv::Engage;

auto req = std::make_shared<Engage::Request>();
req->engage = !current_engage_;

RCLCPP_INFO(raw_node_->get_logger(), "client request");

Expand All @@ -297,30 +299,27 @@ void AutowareStatePanel::onClickAutowareEngage()
return;
}

client_engage_->async_send_request(
req, [this](rclcpp::Client<tier4_external_api_msgs::srv::Engage>::SharedFuture result) {
RCLCPP_INFO(
raw_node_->get_logger(), "Status: %d, %s", result.get()->status.code,
result.get()->status.message.c_str());
});
client_engage_->async_send_request(req, [this](rclcpp::Client<Engage>::SharedFuture result) {
RCLCPP_INFO(
raw_node_->get_logger(), "Status: %d, %s", result.get()->status.code,
result.get()->status.message.c_str());
});
}

void AutowareStatePanel::onClickEmergencyButton()
{
auto request = std::make_shared<tier4_external_api_msgs::srv::SetEmergency::Request>();
if (current_emergency_) {
request->emergency = false;
} else {
request->emergency = true;
}
using tier4_external_api_msgs::msg::ResponseStatus;
using tier4_external_api_msgs::srv::SetEmergency;

auto request = std::make_shared<SetEmergency::Request>();
request->emergency = !current_emergency_;

RCLCPP_INFO(raw_node_->get_logger(), request->emergency ? "Set Emergency" : "Clear Emergency");

client_emergency_stop_->async_send_request(
request,
[this]([[maybe_unused]] rclcpp::Client<tier4_external_api_msgs::srv::SetEmergency>::SharedFuture
result) {
auto response = result.get();
if (response->status.code == tier4_external_api_msgs::msg::ResponseStatus::SUCCESS) {
request, [this](rclcpp::Client<SetEmergency>::SharedFuture result) {
const auto & response = result.get();
if (response->status.code == ResponseStatus::SUCCESS) {
RCLCPP_INFO(raw_node_->get_logger(), "service succeeded");
} else {
RCLCPP_WARN(
Expand Down
6 changes: 3 additions & 3 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ class AutowareStatePanel : public rviz_common::Panel
explicit AutowareStatePanel(QWidget * parent = nullptr);
void onInitialize() override;

public Q_SLOTS:
public Q_SLOTS: // NOLINT for Qt
void onClickAutowareEngage();
void onClickVelocityLimit();
void onClickGateMode();
Expand Down Expand Up @@ -89,8 +89,8 @@ public Q_SLOTS:
QSpinBox * pub_velocity_limit_input_;
QPushButton * emergency_button_ptr_;

bool current_engage_;
bool current_emergency_;
bool current_engage_{false};
bool current_emergency_{false};
};

} // namespace rviz_plugins
Expand Down