Run clang-format on the entire repo
This patch clang-formats the entire repo. Third-party code is
excluded.
I needed to fix up the .clang-format file so that all the header
includes are ordered properly. I could have sworn that it used to work
without the extra modification, but I guess not.
Signed-off-by: Philipp Schrader <philipp.schrader@gmail.com>
Change-Id: I64bb9f2c795401393f9dfe2fefc4f04cb36b52f6
diff --git a/.clang-format b/.clang-format
index 6eb0ed4..384832b 100644
--- a/.clang-format
+++ b/.clang-format
@@ -7,9 +7,30 @@
PointerAlignment: Right
Standard: Cpp11
IncludeCategories:
- # Force node headers to be considered third-party headers.
- - Regex: '^<(node|v8).h>$'
+ # Force some headers to be considered third-party headers.
+ - Regex: '^<(cxx|Halide|HalidBuffer|lzma|node|v8|osqp|oscqp\+\+|snappy|snappy-sinksource).h>$'
Priority: 3
+ # Force some more third-party headers to be appropriately categorized.
+ - Regex: '^(<|")(absl|ceres|ctre|Eigen|external|FRC_NetworkCommunication|foxglove|flatbuffers|glib-2.0|glog|gflags|gmock|gtest|google|libusb-1.0|lz4|opencv2|openssl|rawrtcc|sanitizer|single_include|third_party|wpi)/.*(>|")$'
+ Priority: 3
+ # The default regexes. For some reason, if we don't specify them here, then
+ # clang-format will overwrite them with the custom ones we specify above.
+ - Regex: '^<ext/.*\.h>'
+ Priority: 2
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '^<.*\.h>'
+ Priority: 1
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '^<.*'
+ Priority: 2
+ SortPriority: 0
+ CaseSensitive: false
+ - Regex: '.*'
+ Priority: 4
+ SortPriority: 0
+ CaseSensitive: false
---
Language: JavaScript
diff --git a/aos/actions/action_test.cc b/aos/actions/action_test.cc
index 2638cdc..e7a3c53 100644
--- a/aos/actions/action_test.cc
+++ b/aos/actions/action_test.cc
@@ -4,13 +4,14 @@
#include <memory>
#include <thread>
+#include "gtest/gtest.h"
+
#include "aos/actions/actions.h"
#include "aos/actions/actions_generated.h"
#include "aos/actions/actor.h"
#include "aos/actions/test_action_generated.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
-#include "gtest/gtest.h"
namespace aos {
namespace common {
diff --git a/aos/actions/actor.cc b/aos/actions/actor.cc
index 7b2264d..6a91c74 100644
--- a/aos/actions/actor.cc
+++ b/aos/actions/actor.cc
@@ -2,8 +2,6 @@
namespace aos {
namespace common {
-namespace actions {
-
-} // namespace actions
+namespace actions {} // namespace actions
} // namespace common
} // namespace aos
diff --git a/aos/aos_cli_utils.h b/aos/aos_cli_utils.h
index 35fb61f..199c490 100644
--- a/aos/aos_cli_utils.h
+++ b/aos/aos_cli_utils.h
@@ -1,10 +1,11 @@
#ifndef AOS_AOS_CLI_UTILS_H_
#define AOS_AOS_CLI_UTILS_H_
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
#include "aos/events/simulated_event_loop.h"
-#include "gflags/gflags.h"
namespace aos {
diff --git a/aos/aos_dump.cc b/aos/aos_dump.cc
index b76b1a3..ad50b0b 100644
--- a/aos/aos_dump.cc
+++ b/aos/aos_dump.cc
@@ -2,11 +2,12 @@
#include <iostream>
+#include "gflags/gflags.h"
+
#include "aos/aos_cli_utils.h"
#include "aos/configuration.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
DEFINE_int64(max_vector_size, 100,
"If positive, vectors longer than this will not be printed");
diff --git a/aos/aos_graph_channels.cc b/aos/aos_graph_channels.cc
index 7eb22ba..1a89223 100644
--- a/aos/aos_graph_channels.cc
+++ b/aos/aos_graph_channels.cc
@@ -3,12 +3,13 @@
#include "absl/strings/str_format.h"
#include "absl/strings/str_split.h"
+#include "gflags/gflags.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
DEFINE_string(skip, "", "Applications to skip, seperated by ;");
diff --git a/aos/aos_graph_nodes.cc b/aos/aos_graph_nodes.cc
index 5b6fbe0..4ed9866 100644
--- a/aos/aos_graph_nodes.cc
+++ b/aos/aos_graph_nodes.cc
@@ -1,11 +1,12 @@
#include <iostream>
#include <map>
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
DEFINE_bool(all, false,
"If true, print out the channels for all nodes in the config file, "
diff --git a/aos/aos_send.cc b/aos/aos_send.cc
index b8cc9eb..210a2af 100644
--- a/aos/aos_send.cc
+++ b/aos/aos_send.cc
@@ -3,12 +3,13 @@
#include <iostream>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/aos_cli_utils.h"
#include "aos/configuration.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_double(rate, -1, "Rate at which to send the message (-1 to send once).");
diff --git a/aos/condition.cc b/aos/condition.cc
index 1b0e855..f7860be 100644
--- a/aos/condition.cc
+++ b/aos/condition.cc
@@ -4,9 +4,10 @@
#include <cinttypes>
#include <ctime>
+#include "glog/logging.h"
+
#include "aos/mutex/mutex.h"
#include "aos/type_traits/type_traits.h"
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/condition_test.cc b/aos/condition_test.cc
index 9250846..c83dc19 100644
--- a/aos/condition_test.cc
+++ b/aos/condition_test.cc
@@ -8,6 +8,8 @@
#include <chrono>
#include <thread>
+#include "gtest/gtest.h"
+
#include "aos/die.h"
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/core_lib.h"
@@ -18,7 +20,6 @@
#include "aos/testing/test_shm.h"
#include "aos/time/time.h"
#include "aos/type_traits/type_traits.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/config_flattener.cc b/aos/config_flattener.cc
index 8018484..5bd3cf7 100644
--- a/aos/config_flattener.cc
+++ b/aos/config_flattener.cc
@@ -1,12 +1,13 @@
#include <string>
#include <vector>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/util/file.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/configuration.cc b/aos/configuration.cc
index 4e1316d..ca11348 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -18,14 +18,15 @@
#include "absl/strings/str_cat.h"
#include "absl/strings/str_join.h"
#include "absl/strings/str_split.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration_generated.h"
#include "aos/flatbuffer_merge.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
#include "aos/unique_malloc_ptr.h"
#include "aos/util/file.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
namespace aos {
namespace {
diff --git a/aos/configuration_test.cc b/aos/configuration_test.cc
index cb44f1b..c4df812 100644
--- a/aos/configuration_test.cc
+++ b/aos/configuration_test.cc
@@ -1,16 +1,17 @@
#include "aos/configuration.h"
#include "absl/strings/strip.h"
+#include "flatbuffers/reflection.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
#include "aos/events/ping_generated.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/flatbuffer_eq.h"
#include "aos/testing/path.h"
#include "aos/testing/test_logging.h"
#include "aos/util/file.h"
-#include "flatbuffers/reflection.h"
-#include "glog/logging.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
namespace aos {
namespace configuration {
diff --git a/aos/containers/error_list.h b/aos/containers/error_list.h
index 2fbd39e..42400fb 100644
--- a/aos/containers/error_list.h
+++ b/aos/containers/error_list.h
@@ -3,9 +3,10 @@
#include <iostream>
-#include "aos/containers/sized_array.h"
#include "flatbuffers/flatbuffers.h"
+#include "aos/containers/sized_array.h"
+
namespace aos {
// A de-duplicated sorted array based on SizedArray
diff --git a/aos/containers/error_list_test.cc b/aos/containers/error_list_test.cc
index 3ce23c4..b819ba5 100644
--- a/aos/containers/error_list_test.cc
+++ b/aos/containers/error_list_test.cc
@@ -1,8 +1,9 @@
#include "aos/containers/error_list.h"
-#include "aos/json_to_flatbuffer_generated.h"
#include "gtest/gtest.h"
+#include "aos/json_to_flatbuffer_generated.h"
+
namespace aos {
namespace testing {
diff --git a/aos/containers/resizeable_buffer.h b/aos/containers/resizeable_buffer.h
index ed0d23e..165dfee 100644
--- a/aos/containers/resizeable_buffer.h
+++ b/aos/containers/resizeable_buffer.h
@@ -18,8 +18,12 @@
public:
AllocatorResizeableBuffer() = default;
- AllocatorResizeableBuffer(const AllocatorResizeableBuffer &other) { *this = other; }
- AllocatorResizeableBuffer(AllocatorResizeableBuffer &&other) { *this = std::move(other); }
+ AllocatorResizeableBuffer(const AllocatorResizeableBuffer &other) {
+ *this = other;
+ }
+ AllocatorResizeableBuffer(AllocatorResizeableBuffer &&other) {
+ *this = std::move(other);
+ }
AllocatorResizeableBuffer &operator=(const AllocatorResizeableBuffer &other) {
resize(other.size());
memcpy(storage_.get(), other.storage_.get(), size());
diff --git a/aos/dump_rtprio.cc b/aos/dump_rtprio.cc
index 4ed9415..e1286e2 100644
--- a/aos/dump_rtprio.cc
+++ b/aos/dump_rtprio.cc
@@ -19,11 +19,12 @@
#include <set>
#include <string>
+#include "glog/logging.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/time/time.h"
#include "aos/util/top.h"
-#include "glog/logging.h"
DEFINE_string(config, "aos_config.json", "File path of aos configuration");
diff --git a/aos/events/aos_timing_report_streamer.cc b/aos/events/aos_timing_report_streamer.cc
index 35a78b9..58b44e6 100644
--- a/aos/events/aos_timing_report_streamer.cc
+++ b/aos/events/aos_timing_report_streamer.cc
@@ -1,9 +1,10 @@
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
#include "aos/events/timing_report_dump_lib.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
DEFINE_string(config, "aos_config.json", "The path to the config to use.");
DEFINE_string(application, "",
diff --git a/aos/events/channel_preallocated_allocator.h b/aos/events/channel_preallocated_allocator.h
index 76fb694..49eafef 100644
--- a/aos/events/channel_preallocated_allocator.h
+++ b/aos/events/channel_preallocated_allocator.h
@@ -1,9 +1,10 @@
#ifndef AOS_EVENTS_CHANNEL_PREALLOCATED_ALLOCATOR_
#define AOS_EVENTS_CHANNEL_PREALLOCATED_ALLOCATOR_
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/configuration.h"
#include "aos/configuration_generated.h"
-#include "flatbuffers/flatbuffers.h"
namespace aos {
diff --git a/aos/events/epoll.cc b/aos/events/epoll.cc
index 71e3c9b..9a11197 100644
--- a/aos/events/epoll.cc
+++ b/aos/events/epoll.cc
@@ -8,9 +8,10 @@
#include <atomic>
#include <vector>
-#include "aos/time/time.h"
#include "glog/logging.h"
+#include "aos/time/time.h"
+
namespace aos {
namespace internal {
diff --git a/aos/events/event_loop.cc b/aos/events/event_loop.cc
index 2d932cc..8a5774f 100644
--- a/aos/events/event_loop.cc
+++ b/aos/events/event_loop.cc
@@ -1,10 +1,11 @@
#include "aos/events/event_loop.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/configuration_generated.h"
#include "aos/logging/implementations.h"
#include "aos/realtime.h"
-#include "glog/logging.h"
DEFINE_bool(timing_reports, true, "Publish timing reports.");
DEFINE_int32(timing_report_ms, 1000,
diff --git a/aos/events/event_loop.h b/aos/events/event_loop.h
index 8825464..5eaaf22 100644
--- a/aos/events/event_loop.h
+++ b/aos/events/event_loop.h
@@ -9,6 +9,9 @@
#include <string_view>
#include "absl/container/btree_set.h"
+#include "flatbuffers/flatbuffers.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/configuration_generated.h"
#include "aos/events/channel_preallocated_allocator.h"
@@ -22,8 +25,6 @@
#include "aos/time/time.h"
#include "aos/util/phased_loop.h"
#include "aos/uuid.h"
-#include "flatbuffers/flatbuffers.h"
-#include "glog/logging.h"
DECLARE_bool(timing_reports);
DECLARE_int32(timing_report_ms);
diff --git a/aos/events/event_loop_event.h b/aos/events/event_loop_event.h
index a86f670..588b851 100644
--- a/aos/events/event_loop_event.h
+++ b/aos/events/event_loop_event.h
@@ -1,9 +1,10 @@
#ifndef AOS_EVENTS_EVENT_LOOP_EVENT_H
#define AOS_EVENTS_EVENT_LOOP_EVENT_H
-#include "aos/time/time.h"
#include "glog/logging.h"
+#include "aos/time/time.h"
+
namespace aos {
// Common interface to track when callbacks and timers should have happened.
diff --git a/aos/events/event_loop_param_test.cc b/aos/events/event_loop_param_test.cc
index 2076467..beb5e78 100644
--- a/aos/events/event_loop_param_test.cc
+++ b/aos/events/event_loop_param_test.cc
@@ -4,14 +4,15 @@
#include <unordered_map>
#include <unordered_set>
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
#include "aos/events/test_message_generated.h"
#include "aos/flatbuffer_merge.h"
#include "aos/logging/log_message_generated.h"
#include "aos/logging/logging.h"
#include "aos/realtime.h"
-#include "glog/logging.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/events/event_loop_param_test.h b/aos/events/event_loop_param_test.h
index fad8dea..d795a13 100644
--- a/aos/events/event_loop_param_test.h
+++ b/aos/events/event_loop_param_test.h
@@ -5,6 +5,8 @@
#include <string_view>
#include <vector>
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/test_message_generated.h"
#include "aos/events/test_message_schema.h"
@@ -15,7 +17,6 @@
#include "aos/network/message_bridge_client_schema.h"
#include "aos/network/message_bridge_server_schema.h"
#include "aos/network/timestamp_schema.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/events/event_loop_runtime_test.cc b/aos/events/event_loop_runtime_test.cc
index 8557e55..7a49fe1 100644
--- a/aos/events/event_loop_runtime_test.cc
+++ b/aos/events/event_loop_runtime_test.cc
@@ -1,10 +1,11 @@
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop_runtime_test_lib_rs_cxxgen.h"
#include "aos/events/ping_generated.h"
#include "aos/events/pong_generated.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace aos::events::testing {
namespace {
diff --git a/aos/events/event_loop_tmpl.h b/aos/events/event_loop_tmpl.h
index 39ab43e..6c132b2 100644
--- a/aos/events/event_loop_tmpl.h
+++ b/aos/events/event_loop_tmpl.h
@@ -5,9 +5,10 @@
#include <cstdint>
#include <type_traits>
-#include "aos/events/event_loop.h"
#include "glog/logging.h"
+#include "aos/events/event_loop.h"
+
namespace aos {
namespace event_loop_internal {
@@ -36,9 +37,8 @@
template <typename Watch>
void EventLoop::MakeWatcher(const std::string_view channel_name, Watch &&w) {
- using MessageType =
- typename event_loop_internal::watch_message_type_trait<decltype(
- &Watch::operator())>::message_type;
+ using MessageType = typename event_loop_internal::watch_message_type_trait<
+ decltype(&Watch::operator())>::message_type;
const Channel *channel = configuration::GetChannel(
configuration_, channel_name, MessageType::GetFullyQualifiedName(),
name(), node());
diff --git a/aos/events/event_scheduler.cc b/aos/events/event_scheduler.cc
index 2bd7cef..115b2c7 100644
--- a/aos/events/event_scheduler.cc
+++ b/aos/events/event_scheduler.cc
@@ -51,7 +51,8 @@
monotonic_clock::max_time);
}
- const monotonic_clock::time_point monotonic_time = events_list_.begin()->first;
+ const monotonic_clock::time_point monotonic_time =
+ events_list_.begin()->first;
if (cached_event_list_monotonic_time_ != monotonic_time) {
cached_event_list_time_ = ToDistributedClock(monotonic_time);
cached_event_list_monotonic_time_ = monotonic_time;
diff --git a/aos/events/event_scheduler.h b/aos/events/event_scheduler.h
index c508140..848a1cf 100644
--- a/aos/events/event_scheduler.h
+++ b/aos/events/event_scheduler.h
@@ -8,12 +8,13 @@
#include <utility>
#include <vector>
+#include "glog/logging.h"
+
#include "aos/events/epoll.h"
#include "aos/events/event_loop.h"
#include "aos/events/logging/boot_timestamp.h"
#include "aos/logging/implementations.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/events/event_scheduler_test.cc b/aos/events/event_scheduler_test.cc
index c32399c..d328552 100644
--- a/aos/events/event_scheduler_test.cc
+++ b/aos/events/event_scheduler_test.cc
@@ -2,9 +2,10 @@
#include <chrono>
-#include "aos/network/testing_time_converter.h"
#include "gtest/gtest.h"
+#include "aos/network/testing_time_converter.h"
+
namespace aos {
namespace chrono = std::chrono;
diff --git a/aos/events/glib_main_loop_test.cc b/aos/events/glib_main_loop_test.cc
index 9f72e54..43f7c7a 100644
--- a/aos/events/glib_main_loop_test.cc
+++ b/aos/events/glib_main_loop_test.cc
@@ -2,13 +2,14 @@
#include <thread>
-#include "aos/configuration.h"
-#include "aos/events/shm_event_loop.h"
-#include "aos/testing/path.h"
#include "glib-2.0/glib.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/configuration.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/testing/path.h"
+
namespace aos {
namespace testing {
using aos::testing::ArtifactPath;
diff --git a/aos/events/logging/boot_timestamp.h b/aos/events/logging/boot_timestamp.h
index bd9b357..e9c7877 100644
--- a/aos/events/logging/boot_timestamp.h
+++ b/aos/events/logging/boot_timestamp.h
@@ -3,9 +3,10 @@
#include <iostream>
-#include "aos/time/time.h"
#include "glog/logging.h"
+#include "aos/time/time.h"
+
namespace aos::logger {
// Simple class representing a duration in time and a boot it is from. This
diff --git a/aos/events/logging/buffer_encoder.cc b/aos/events/logging/buffer_encoder.cc
index 5c1d4b2..6aba79a 100644
--- a/aos/events/logging/buffer_encoder.cc
+++ b/aos/events/logging/buffer_encoder.cc
@@ -4,9 +4,10 @@
#include <sys/stat.h>
#include <sys/types.h>
-#include "aos/flatbuffers.h"
#include "glog/logging.h"
+#include "aos/flatbuffers.h"
+
namespace aos::logger {
DummyEncoder::DummyEncoder(size_t /*max_message_size*/, size_t buffer_size) {
diff --git a/aos/events/logging/buffer_encoder.h b/aos/events/logging/buffer_encoder.h
index ed5bef6..394992c 100644
--- a/aos/events/logging/buffer_encoder.h
+++ b/aos/events/logging/buffer_encoder.h
@@ -2,11 +2,12 @@
#define AOS_EVENTS_LOGGING_BUFFER_ENCODER_H_
#include "absl/types/span.h"
-#include "aos/containers/resizeable_buffer.h"
-#include "aos/events/logging/logger_generated.h"
#include "flatbuffers/flatbuffers.h"
#include "glog/logging.h"
+#include "aos/containers/resizeable_buffer.h"
+#include "aos/events/logging/logger_generated.h"
+
namespace aos::logger {
// Interface to encode data as it is written to a file.
diff --git a/aos/events/logging/buffer_encoder_param_test.h b/aos/events/logging/buffer_encoder_param_test.h
index 6085779..8b6648d 100644
--- a/aos/events/logging/buffer_encoder_param_test.h
+++ b/aos/events/logging/buffer_encoder_param_test.h
@@ -6,11 +6,12 @@
#include <random>
#include <vector>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/logging/logfile_utils.h"
#include "aos/events/logging/logger_generated.h"
#include "aos/testing/random_seed.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace aos::logger::testing {
diff --git a/aos/events/logging/buffer_encoder_test.cc b/aos/events/logging/buffer_encoder_test.cc
index d5e2e5d..7dda300 100644
--- a/aos/events/logging/buffer_encoder_test.cc
+++ b/aos/events/logging/buffer_encoder_test.cc
@@ -4,11 +4,12 @@
#include <fstream>
#include <string>
-#include "aos/events/logging/buffer_encoder_param_test.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "aos/events/logging/buffer_encoder_param_test.h"
+
namespace aos::logger::testing {
class DummyEncoderTest : public BufferEncoderBaseTest {};
diff --git a/aos/events/logging/log_backend.cc b/aos/events/logging/log_backend.cc
index 07bb780..918a6e6 100644
--- a/aos/events/logging/log_backend.cc
+++ b/aos/events/logging/log_backend.cc
@@ -5,9 +5,10 @@
#include <filesystem>
#include "absl/strings/str_cat.h"
-#include "aos/util/file.h"
#include "glog/logging.h"
+#include "aos/util/file.h"
+
DEFINE_bool(direct, false,
"If true, write using O_DIRECT and write 512 byte aligned blocks "
"whenever possible.");
diff --git a/aos/events/logging/log_backend.h b/aos/events/logging/log_backend.h
index 1b1417e..6f79bc3 100644
--- a/aos/events/logging/log_backend.h
+++ b/aos/events/logging/log_backend.h
@@ -10,6 +10,7 @@
#include <vector>
#include "absl/types/span.h"
+
#include "aos/time/time.h"
namespace aos::logger {
diff --git a/aos/events/logging/log_backend_test.cc b/aos/events/logging/log_backend_test.cc
index 928bb24..4e6987f 100644
--- a/aos/events/logging/log_backend_test.cc
+++ b/aos/events/logging/log_backend_test.cc
@@ -7,12 +7,13 @@
#include "absl/strings/str_cat.h"
#include "absl/strings/str_join.h"
-#include "aos/containers/resizeable_buffer.h"
-#include "aos/testing/tmpdir.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "aos/containers/resizeable_buffer.h"
+#include "aos/testing/tmpdir.h"
+
namespace aos::logger::testing {
namespace {
// Helper to write simple string to the log sink
diff --git a/aos/events/logging/log_cat.cc b/aos/events/logging/log_cat.cc
index b06cf20..31d12be 100644
--- a/aos/events/logging/log_cat.cc
+++ b/aos/events/logging/log_cat.cc
@@ -7,6 +7,8 @@
#include <vector>
#include "absl/strings/escaping.h"
+#include "gflags/gflags.h"
+
#include "aos/aos_cli_utils.h"
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
@@ -14,7 +16,6 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/sha256.h"
-#include "gflags/gflags.h"
DEFINE_string(
name, "",
diff --git a/aos/events/logging/log_config_extractor.cc b/aos/events/logging/log_config_extractor.cc
index aa2eed0..da0c65f 100644
--- a/aos/events/logging/log_config_extractor.cc
+++ b/aos/events/logging/log_config_extractor.cc
@@ -1,16 +1,17 @@
-#include <iostream>
#include <filesystem>
+#include <iostream>
#include <vector>
+#include "flatbuffers/flatbuffers.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration_generated.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/logfile_sorting.h"
#include "aos/flatbuffer_merge.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "flatbuffers/flatbuffers.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(output_path, "/tmp/",
"Destination folder for output files. If this flag is not used, "
diff --git a/aos/events/logging/log_edit.cc b/aos/events/logging/log_edit.cc
index 7e822ca..7d3ba2f 100644
--- a/aos/events/logging/log_edit.cc
+++ b/aos/events/logging/log_edit.cc
@@ -1,12 +1,13 @@
#include <iostream>
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/util/file.h"
-#include "gflags/gflags.h"
DEFINE_string(logfile, "/tmp/logfile.bfbs",
"Name of the logfile to read from.");
diff --git a/aos/events/logging/log_namer.cc b/aos/events/logging/log_namer.cc
index 4b23268..0e914d9 100644
--- a/aos/events/logging/log_namer.cc
+++ b/aos/events/logging/log_namer.cc
@@ -7,12 +7,13 @@
#include <vector>
#include "absl/strings/str_cat.h"
+#include "flatbuffers/flatbuffers.h"
+#include "glog/logging.h"
+
#include "aos/events/logging/logfile_utils.h"
#include "aos/events/logging/logger_generated.h"
#include "aos/flatbuffer_merge.h"
#include "aos/uuid.h"
-#include "flatbuffers/flatbuffers.h"
-#include "glog/logging.h"
DECLARE_int32(flush_size);
diff --git a/aos/events/logging/log_namer.h b/aos/events/logging/log_namer.h
index 8842f4e..89a9319 100644
--- a/aos/events/logging/log_namer.h
+++ b/aos/events/logging/log_namer.h
@@ -8,10 +8,11 @@
#include <vector>
#include "absl/container/btree_map.h"
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/events/logging/logfile_utils.h"
#include "aos/events/logging/logger_generated.h"
#include "aos/uuid.h"
-#include "flatbuffers/flatbuffers.h"
namespace aos {
namespace logger {
diff --git a/aos/events/logging/log_reader.cc b/aos/events/logging/log_reader.cc
index cbe37d5..f805c66 100644
--- a/aos/events/logging/log_reader.cc
+++ b/aos/events/logging/log_reader.cc
@@ -11,6 +11,9 @@
#include "absl/strings/escaping.h"
#include "absl/types/span.h"
+#include "flatbuffers/flatbuffers.h"
+#include "openssl/sha.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/logging/boot_timestamp.h"
#include "aos/events/logging/logfile_sorting.h"
@@ -25,8 +28,6 @@
#include "aos/time/time.h"
#include "aos/util/file.h"
#include "aos/uuid.h"
-#include "flatbuffers/flatbuffers.h"
-#include "openssl/sha.h"
DEFINE_bool(skip_missing_forwarding_entries, false,
"If true, drop any forwarding entries with missing data. If "
@@ -2340,7 +2341,8 @@
// handlers that would've happened before requested start time until that
// start time.
if (start_event_notifier_) {
- // Only call OnStart() if the start time for this node (realtime_start_time())
+ // Only call OnStart() if the start time for this node
+ // (realtime_start_time())
if (start_event_notifier_->realtime_event_time() >
realtime_start_time(boot_count())) {
VLOG(1) << "Skipping, " << start_event_notifier_->realtime_event_time()
diff --git a/aos/events/logging/log_reader.h b/aos/events/logging/log_reader.h
index 49babe5..3bdfca4 100644
--- a/aos/events/logging/log_reader.h
+++ b/aos/events/logging/log_reader.h
@@ -8,6 +8,8 @@
#include <tuple>
#include <vector>
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/condition.h"
#include "aos/events/event_loop.h"
#include "aos/events/logging/logfile_sorting.h"
@@ -24,7 +26,6 @@
#include "aos/time/time.h"
#include "aos/util/threaded_queue.h"
#include "aos/uuid.h"
-#include "flatbuffers/flatbuffers.h"
namespace aos {
namespace logger {
diff --git a/aos/events/logging/log_replayer.cc b/aos/events/logging/log_replayer.cc
index c91464c..7231a91 100644
--- a/aos/events/logging/log_replayer.cc
+++ b/aos/events/logging/log_replayer.cc
@@ -7,6 +7,10 @@
#include <string_view>
#include <vector>
+#include "flatbuffers/flatbuffers.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration_generated.h"
#include "aos/events/event_loop.h"
#include "aos/events/logging/log_reader.h"
@@ -21,9 +25,6 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/util/file.h"
-#include "flatbuffers/flatbuffers.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(config, "", "If specified, overrides logged configuration.");
DEFINE_bool(
diff --git a/aos/events/logging/log_stats.cc b/aos/events/logging/log_stats.cc
index 8e3d451..ea265b5 100644
--- a/aos/events/logging/log_stats.cc
+++ b/aos/events/logging/log_stats.cc
@@ -3,12 +3,13 @@
#include <queue>
#include "absl/strings/str_format.h"
+#include "gflags/gflags.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
DEFINE_string(
name, "",
diff --git a/aos/events/logging/log_writer.h b/aos/events/logging/log_writer.h
index 65c68f4..f63ac3e 100644
--- a/aos/events/logging/log_writer.h
+++ b/aos/events/logging/log_writer.h
@@ -5,6 +5,8 @@
#include <string_view>
#include <vector>
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/logging/log_namer.h"
#include "aos/events/logging/logfile_utils.h"
@@ -14,7 +16,6 @@
#include "aos/network/remote_message_generated.h"
#include "aos/time/time.h"
#include "aos/uuid.h"
-#include "flatbuffers/flatbuffers.h"
namespace aos {
namespace logger {
diff --git a/aos/events/logging/logfile_sorting.cc b/aos/events/logging/logfile_sorting.cc
index f0161c9..f6d12da 100644
--- a/aos/events/logging/logfile_sorting.cc
+++ b/aos/events/logging/logfile_sorting.cc
@@ -1,5 +1,7 @@
#include "aos/events/logging/logfile_sorting.h"
+#include <dirent.h>
+
#include <algorithm>
#include <map>
#include <string>
@@ -8,12 +10,12 @@
#include "absl/container/btree_map.h"
#include "absl/strings/str_join.h"
+
#include "aos/events/logging/logfile_utils.h"
#include "aos/flatbuffer_merge.h"
#include "aos/flatbuffers.h"
#include "aos/sha256.h"
#include "aos/time/time.h"
-#include "dirent.h"
#include "sys/stat.h"
#if ENABLE_S3
diff --git a/aos/events/logging/logfile_utils.cc b/aos/events/logging/logfile_utils.cc
index 490393d..304b3b3 100644
--- a/aos/events/logging/logfile_utils.cc
+++ b/aos/events/logging/logfile_utils.cc
@@ -10,13 +10,14 @@
#include <filesystem>
#include "absl/strings/escaping.h"
+#include "flatbuffers/flatbuffers.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/snappy_encoder.h"
#include "aos/flatbuffer_merge.h"
#include "aos/util/file.h"
-#include "flatbuffers/flatbuffers.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
#if defined(__x86_64__)
#define ENABLE_LZMA (!__has_feature(memory_sanitizer))
diff --git a/aos/events/logging/logfile_utils.h b/aos/events/logging/logfile_utils.h
index 0bf60a0..5d5d344 100644
--- a/aos/events/logging/logfile_utils.h
+++ b/aos/events/logging/logfile_utils.h
@@ -16,6 +16,8 @@
#include "absl/container/btree_set.h"
#include "absl/types/span.h"
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/containers/resizeable_buffer.h"
#include "aos/events/event_loop.h"
#include "aos/events/logging/boot_timestamp.h"
@@ -25,7 +27,6 @@
#include "aos/events/logging/logger_generated.h"
#include "aos/flatbuffers.h"
#include "aos/network/remote_message_generated.h"
-#include "flatbuffers/flatbuffers.h"
namespace aos::logger {
diff --git a/aos/events/logging/logfile_utils_out_of_space_test_runner.cc b/aos/events/logging/logfile_utils_out_of_space_test_runner.cc
index 71c537f..65591ba 100644
--- a/aos/events/logging/logfile_utils_out_of_space_test_runner.cc
+++ b/aos/events/logging/logfile_utils_out_of_space_test_runner.cc
@@ -2,11 +2,12 @@
#include <array>
-#include "aos/events/logging/logfile_utils.h"
-#include "aos/init.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+#include "aos/events/logging/logfile_utils.h"
+#include "aos/init.h"
+
DECLARE_int32(flush_size);
DEFINE_string(tmpfs, "", "tmpfs with the desired size");
diff --git a/aos/events/logging/logfile_utils_test.cc b/aos/events/logging/logfile_utils_test.cc
index 8d5b0fb..eaeb4b7 100644
--- a/aos/events/logging/logfile_utils_test.cc
+++ b/aos/events/logging/logfile_utils_test.cc
@@ -6,6 +6,12 @@
#include <string>
#include "absl/strings/escaping.h"
+#include "external/com_github_google_flatbuffers/src/annotated_binary_text_gen.h"
+#include "external/com_github_google_flatbuffers/src/binary_annotator.h"
+#include "flatbuffers/reflection_generated.h"
+#include "gflags/gflags.h"
+#include "gtest/gtest.h"
+
#include "aos/events/logging/logfile_sorting.h"
#include "aos/events/logging/test_message_generated.h"
#include "aos/flatbuffer_merge.h"
@@ -15,11 +21,6 @@
#include "aos/testing/random_seed.h"
#include "aos/testing/tmpdir.h"
#include "aos/util/file.h"
-#include "external/com_github_google_flatbuffers/src/annotated_binary_text_gen.h"
-#include "external/com_github_google_flatbuffers/src/binary_annotator.h"
-#include "flatbuffers/reflection_generated.h"
-#include "gflags/gflags.h"
-#include "gtest/gtest.h"
namespace aos {
namespace logger {
diff --git a/aos/events/logging/logger_main.cc b/aos/events/logging/logger_main.cc
index 0dbfc8d..631f41f 100644
--- a/aos/events/logging/logger_main.cc
+++ b/aos/events/logging/logger_main.cc
@@ -6,12 +6,13 @@
#ifdef LZMA
#include "aos/events/logging/lzma_encoder.h"
#endif
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/logging/snappy_encoder.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/log_namer.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(config, "aos_config.json", "Config file to use.");
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 7214a36..8b1b7fa 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -3,6 +3,10 @@
#include <filesystem>
#include "absl/strings/str_format.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -17,9 +21,6 @@
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
#include "aos/util/file.h"
-#include "glog/logging.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
#ifdef LZMA
#include "aos/events/logging/lzma_encoder.h"
diff --git a/aos/events/logging/lzma_encoder.h b/aos/events/logging/lzma_encoder.h
index 3136d93..93508ca 100644
--- a/aos/events/logging/lzma_encoder.h
+++ b/aos/events/logging/lzma_encoder.h
@@ -7,10 +7,11 @@
#include <thread>
#include "absl/types/span.h"
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/containers/resizeable_buffer.h"
#include "aos/events/logging/buffer_encoder.h"
#include "aos/events/logging/logger_generated.h"
-#include "flatbuffers/flatbuffers.h"
#include "lzma.h"
namespace aos::logger {
diff --git a/aos/events/logging/lzma_encoder_test.cc b/aos/events/logging/lzma_encoder_test.cc
index 1e814ff..60444d3 100644
--- a/aos/events/logging/lzma_encoder_test.cc
+++ b/aos/events/logging/lzma_encoder_test.cc
@@ -1,10 +1,11 @@
#include "aos/events/logging/lzma_encoder.h"
-#include "aos/events/logging/buffer_encoder_param_test.h"
-#include "aos/util/file.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "aos/events/logging/buffer_encoder_param_test.h"
+#include "aos/util/file.h"
+
DECLARE_int32(lzma_threads);
namespace aos::logger::testing {
diff --git a/aos/events/logging/multinode_logger_test.cc b/aos/events/logging/multinode_logger_test.cc
index f9eb11e..44736a5 100644
--- a/aos/events/logging/multinode_logger_test.cc
+++ b/aos/events/logging/multinode_logger_test.cc
@@ -1,5 +1,8 @@
#include <algorithm>
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/multinode_logger_test_lib.h"
#include "aos/events/message_counter.h"
@@ -8,8 +11,6 @@
#include "aos/network/remote_message_generated.h"
#include "aos/network/timestamp_generated.h"
#include "aos/testing/tmpdir.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
namespace aos {
namespace logger {
diff --git a/aos/events/logging/multinode_logger_test_lib.h b/aos/events/logging/multinode_logger_test_lib.h
index 7502e4d..f95c6cc 100644
--- a/aos/events/logging/multinode_logger_test_lib.h
+++ b/aos/events/logging/multinode_logger_test_lib.h
@@ -2,6 +2,9 @@
#define AOS_EVENTS_LOGGING_MULTINODE_LOGGER_TEST_LIB_H
#include "absl/strings/str_format.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/logging/snappy_encoder.h"
@@ -9,8 +12,6 @@
#include "aos/network/testing_time_converter.h"
#include "aos/testing/path.h"
#include "aos/util/file.h"
-#include "glog/logging.h"
-#include "gmock/gmock.h"
#ifdef LZMA
#include "aos/events/logging/lzma_encoder.h"
diff --git a/aos/events/logging/realtime_replay_test.cc b/aos/events/logging/realtime_replay_test.cc
index 2d02766..a04da49 100644
--- a/aos/events/logging/realtime_replay_test.cc
+++ b/aos/events/logging/realtime_replay_test.cc
@@ -1,3 +1,5 @@
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/ping_lib.h"
@@ -6,7 +8,6 @@
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
DECLARE_string(override_hostname);
diff --git a/aos/events/logging/s3_fetcher.h b/aos/events/logging/s3_fetcher.h
index cf00226..41bc114 100644
--- a/aos/events/logging/s3_fetcher.h
+++ b/aos/events/logging/s3_fetcher.h
@@ -45,7 +45,7 @@
void StartRequest();
};
-Aws::S3::S3Client& GetS3Client();
+Aws::S3::S3Client &GetS3Client();
struct ObjectName {
std::string bucket, key;
diff --git a/aos/events/logging/single_node_merge.cc b/aos/events/logging/single_node_merge.cc
index ec22b82..cc78c2b 100644
--- a/aos/events/logging/single_node_merge.cc
+++ b/aos/events/logging/single_node_merge.cc
@@ -2,11 +2,12 @@
#include <string>
#include <vector>
+#include "gflags/gflags.h"
+
#include "aos/events/logging/logfile_sorting.h"
#include "aos/events/logging/logfile_utils.h"
#include "aos/init.h"
#include "aos/network/multinode_timestamp_filter.h"
-#include "gflags/gflags.h"
// This is a simple application to match up data with timestamps for a node in a
// log. It doesn't solve the timestamp problem, but is still quite useful for
diff --git a/aos/events/logging/snappy_encoder.h b/aos/events/logging/snappy_encoder.h
index d698ee1..4b6130c 100644
--- a/aos/events/logging/snappy_encoder.h
+++ b/aos/events/logging/snappy_encoder.h
@@ -4,10 +4,11 @@
#include <string_view>
#include "absl/types/span.h"
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/containers/resizeable_buffer.h"
#include "aos/events/logging/buffer_encoder.h"
#include "aos/events/logging/logger_generated.h"
-#include "flatbuffers/flatbuffers.h"
#include "snappy-sinksource.h"
#include "snappy.h"
@@ -16,7 +17,8 @@
// Encodes buffers using snappy.
class SnappyEncoder final : public DataEncoder {
public:
- explicit SnappyEncoder(size_t max_message_size, size_t chunk_size = 128 * 1024);
+ explicit SnappyEncoder(size_t max_message_size,
+ size_t chunk_size = 128 * 1024);
size_t Encode(Copier *copy, size_t start_byte) final;
diff --git a/aos/events/logging/snappy_encoder_test.cc b/aos/events/logging/snappy_encoder_test.cc
index 7e61f3f..505a315 100644
--- a/aos/events/logging/snappy_encoder_test.cc
+++ b/aos/events/logging/snappy_encoder_test.cc
@@ -1,16 +1,18 @@
#include "aos/events/logging/snappy_encoder.h"
-#include "aos/events/logging/buffer_encoder_param_test.h"
-#include "aos/util/file.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "aos/events/logging/buffer_encoder_param_test.h"
+#include "aos/util/file.h"
+
namespace aos::logger::testing {
INSTANTIATE_TEST_SUITE_P(
Snappy, BufferEncoderTest,
::testing::Combine(::testing::Values([](size_t max_message_size) {
- return std::make_unique<SnappyEncoder>(max_message_size);
+ return std::make_unique<SnappyEncoder>(
+ max_message_size);
}),
::testing::Values([](std::string_view filename) {
return std::make_unique<SnappyDecoder>(filename);
diff --git a/aos/events/logging/timestamp_extractor.cc b/aos/events/logging/timestamp_extractor.cc
index ed319db..67cbc44 100644
--- a/aos/events/logging/timestamp_extractor.cc
+++ b/aos/events/logging/timestamp_extractor.cc
@@ -2,11 +2,12 @@
#include <string>
#include <vector>
+#include "gflags/gflags.h"
+
#include "aos/events/logging/logfile_sorting.h"
#include "aos/events/logging/logfile_utils.h"
#include "aos/init.h"
#include "aos/network/multinode_timestamp_filter.h"
-#include "gflags/gflags.h"
DECLARE_bool(timestamps_to_csv);
DEFINE_bool(skip_order_validation, false,
diff --git a/aos/events/logging/timestamp_plot.cc b/aos/events/logging/timestamp_plot.cc
index ddc8381..e266716 100644
--- a/aos/events/logging/timestamp_plot.cc
+++ b/aos/events/logging/timestamp_plot.cc
@@ -1,5 +1,6 @@
#include "absl/strings/str_cat.h"
#include "absl/strings/str_split.h"
+
#include "aos/init.h"
#include "aos/util/file.h"
#include "frc971/analysis/in_process_plotter.h"
@@ -157,7 +158,8 @@
std::string_view node1, std::string_view node2, bool flip) {
std::vector<double> samplefile12_t;
std::vector<double> samplefile12_o;
- const std::string path = absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv");
+ const std::string path =
+ absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv");
if (!aos::util::PathExists(path)) {
return {};
diff --git a/aos/events/ping.cc b/aos/events/ping.cc
index 9333b61..83a066b 100644
--- a/aos/events/ping.cc
+++ b/aos/events/ping.cc
@@ -1,10 +1,11 @@
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/ping_lib.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(config, "pingpong_config.json", "Path to the config.");
diff --git a/aos/events/ping_lib.cc b/aos/events/ping_lib.cc
index e80fd75..8e7136d 100644
--- a/aos/events/ping_lib.cc
+++ b/aos/events/ping_lib.cc
@@ -1,10 +1,11 @@
#include "aos/events/ping_lib.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/ping_generated.h"
#include "aos/events/pong_generated.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_int32(sleep_ms, 10, "Time to sleep between pings");
diff --git a/aos/events/pingpong_test.cc b/aos/events/pingpong_test.cc
index 9c874ef..d35192a 100644
--- a/aos/events/pingpong_test.cc
+++ b/aos/events/pingpong_test.cc
@@ -1,10 +1,11 @@
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/ping_lib.h"
#include "aos/events/pong_lib.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/events/pong.cc b/aos/events/pong.cc
index 59ddf5d..6a22b6b 100644
--- a/aos/events/pong.cc
+++ b/aos/events/pong.cc
@@ -1,10 +1,11 @@
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/ping_generated.h"
#include "aos/events/pong_generated.h"
#include "aos/events/pong_lib.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "glog/logging.h"
DEFINE_string(config, "pingpong_config.json", "Path to the config.");
diff --git a/aos/events/pong_lib.cc b/aos/events/pong_lib.cc
index b274e58..93a551e 100644
--- a/aos/events/pong_lib.cc
+++ b/aos/events/pong_lib.cc
@@ -1,9 +1,10 @@
#include "aos/events/pong_lib.h"
+#include "glog/logging.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/ping_generated.h"
#include "aos/events/pong_generated.h"
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/events/shm_event_loop.cc b/aos/events/shm_event_loop.cc
index 89d0a9c..3e1be99 100644
--- a/aos/events/shm_event_loop.cc
+++ b/aos/events/shm_event_loop.cc
@@ -10,6 +10,8 @@
#include <iterator>
#include <stdexcept>
+#include "glog/logging.h"
+
#include "aos/events/aos_logging.h"
#include "aos/events/epoll.h"
#include "aos/events/event_loop_generated.h"
@@ -21,7 +23,6 @@
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/util/file.h"
#include "aos/util/phased_loop.h"
-#include "glog/logging.h"
namespace {
diff --git a/aos/events/shm_event_loop.h b/aos/events/shm_event_loop.h
index eb69f3d..7b7e68f 100644
--- a/aos/events/shm_event_loop.h
+++ b/aos/events/shm_event_loop.h
@@ -4,6 +4,7 @@
#include <vector>
#include "absl/types/span.h"
+
#include "aos/events/epoll.h"
#include "aos/events/event_loop.h"
#include "aos/events/event_loop_generated.h"
diff --git a/aos/events/shm_event_loop_test.cc b/aos/events/shm_event_loop_test.cc
index 132ef20..55c4f03 100644
--- a/aos/events/shm_event_loop_test.cc
+++ b/aos/events/shm_event_loop_test.cc
@@ -2,12 +2,13 @@
#include <string_view>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop_param_test.h"
#include "aos/events/test_message_generated.h"
#include "aos/network/team_number.h"
#include "aos/realtime.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
index c021a84..44b30f1 100644
--- a/aos/events/simulated_event_loop.cc
+++ b/aos/events/simulated_event_loop.cc
@@ -8,6 +8,7 @@
#include <vector>
#include "absl/container/btree_map.h"
+
#include "aos/events/aos_logging.h"
#include "aos/events/simulated_network_bridge.h"
#include "aos/init.h"
diff --git a/aos/events/simulated_event_loop.h b/aos/events/simulated_event_loop.h
index 8242d6c..6d88aa6 100644
--- a/aos/events/simulated_event_loop.h
+++ b/aos/events/simulated_event_loop.h
@@ -11,6 +11,8 @@
#include <vector>
#include "absl/container/btree_map.h"
+#include "glog/logging.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/event_scheduler.h"
#include "aos/events/simple_channel.h"
@@ -18,7 +20,6 @@
#include "aos/flatbuffers.h"
#include "aos/ipc_lib/index.h"
#include "aos/uuid.h"
-#include "glog/logging.h"
namespace aos {
@@ -236,13 +237,13 @@
// args for the Main class. Returns a pointer to the class that was started
// if it was started, or nullptr.
template <class Main, class... Args>
- Main *MaybeStart(std::string_view name, Args &&... args);
+ Main *MaybeStart(std::string_view name, Args &&...args);
// Starts an application regardless of if the config says to or not. name is
// the name of the application, and args are the constructor args for the
// application. Returns a pointer to the class that was started.
template <class Main, class... Args>
- Main *AlwaysStart(std::string_view name, Args &&... args);
+ Main *AlwaysStart(std::string_view name, Args &&...args);
// Returns the simulated network delay for messages forwarded between nodes.
std::chrono::nanoseconds network_delay() const {
@@ -352,7 +353,7 @@
// application.
template <class... Args>
TypedApplication(NodeEventLoopFactory *node_factory, std::string_view name,
- Args &&... args)
+ Args &&...args)
: Application(node_factory, name),
main(event_loop.get(), std::forward<Args>(args)...) {
VLOG(1) << node_factory->scheduler_.distributed_now() << " "
@@ -371,7 +372,7 @@
};
template <class Main, class... Args>
-Main *NodeEventLoopFactory::MaybeStart(std::string_view name, Args &&... args) {
+Main *NodeEventLoopFactory::MaybeStart(std::string_view name, Args &&...args) {
const aos::Application *application =
configuration::GetApplication(configuration(), node(), name);
@@ -382,8 +383,7 @@
}
template <class Main, class... Args>
-Main *NodeEventLoopFactory::AlwaysStart(std::string_view name,
- Args &&... args) {
+Main *NodeEventLoopFactory::AlwaysStart(std::string_view name, Args &&...args) {
std::unique_ptr<TypedApplication<Main>> app =
std::make_unique<TypedApplication<Main>>(this, name,
std::forward<Args>(args)...);
diff --git a/aos/events/simulated_event_loop_test.cc b/aos/events/simulated_event_loop_test.cc
index 2922460..c5daa7e 100644
--- a/aos/events/simulated_event_loop_test.cc
+++ b/aos/events/simulated_event_loop_test.cc
@@ -4,6 +4,8 @@
#include <functional>
#include <string_view>
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop_param_test.h"
#include "aos/events/logging/logger_generated.h"
#include "aos/events/message_counter.h"
@@ -16,7 +18,6 @@
#include "aos/network/testing_time_converter.h"
#include "aos/network/timestamp_generated.h"
#include "aos/testing/path.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/events/simulated_network_bridge.cc b/aos/events/simulated_network_bridge.cc
index 31f3f0e..682ec7b 100644
--- a/aos/events/simulated_network_bridge.cc
+++ b/aos/events/simulated_network_bridge.cc
@@ -1,6 +1,7 @@
#include "aos/events/simulated_network_bridge.h"
#include "absl/strings/str_cat.h"
+
#include "aos/configuration.h"
#include "aos/events/event_loop.h"
#include "aos/events/simulated_event_loop.h"
diff --git a/aos/events/timing_report_dump.cc b/aos/events/timing_report_dump.cc
index c71dcf5..bd80a04 100644
--- a/aos/events/timing_report_dump.cc
+++ b/aos/events/timing_report_dump.cc
@@ -1,10 +1,11 @@
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/timing_report_dump_lib.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(application, "",
"Application filter to use. Empty for no filter.");
diff --git a/aos/events/timing_report_dump_lib.cc b/aos/events/timing_report_dump_lib.cc
index 94a979b..86936f1 100644
--- a/aos/events/timing_report_dump_lib.cc
+++ b/aos/events/timing_report_dump_lib.cc
@@ -56,7 +56,7 @@
const std::string kIndent = " ";
std::string MaybeNodeName(std::string_view prefix_if_node,
- const aos::Node *node) {
+ const aos::Node *node) {
if (node == nullptr) {
return "";
}
diff --git a/aos/events/timing_report_dump_lib.h b/aos/events/timing_report_dump_lib.h
index 93163a1..02bfb54 100644
--- a/aos/events/timing_report_dump_lib.h
+++ b/aos/events/timing_report_dump_lib.h
@@ -3,12 +3,13 @@
#include <map>
#include <string>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/event_loop.h"
#include "aos/events/event_loop_generated.h"
#include "aos/json_to_flatbuffer.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
namespace aos {
// A class to handle printing timing report statistics in a useful format on the
diff --git a/aos/events/timing_statistics.cc b/aos/events/timing_statistics.cc
index c89bebd..caf71da 100644
--- a/aos/events/timing_statistics.cc
+++ b/aos/events/timing_statistics.cc
@@ -1,8 +1,9 @@
#include "aos/events/timing_statistics.h"
-#include "aos/events/event_loop_generated.h"
#include "glog/logging.h"
+#include "aos/events/event_loop_generated.h"
+
namespace aos {
namespace internal {
diff --git a/aos/events/timing_statistics_test.cc b/aos/events/timing_statistics_test.cc
index 480cce3..9a7fefc 100644
--- a/aos/events/timing_statistics_test.cc
+++ b/aos/events/timing_statistics_test.cc
@@ -1,8 +1,9 @@
#include "aos/events/timing_statistics.h"
-#include "aos/flatbuffers.h"
#include "gtest/gtest.h"
+#include "aos/flatbuffers.h"
+
namespace aos {
namespace internal {
namespace testing {
diff --git a/aos/fast_string_builder.cc b/aos/fast_string_builder.cc
index 97d2fea..0445535 100644
--- a/aos/fast_string_builder.cc
+++ b/aos/fast_string_builder.cc
@@ -1,4 +1,4 @@
-#include "fast_string_builder.h"
+#include "aos/fast_string_builder.h"
namespace aos {
diff --git a/aos/fast_string_builder.h b/aos/fast_string_builder.h
index aa6b619..e9a4f27 100644
--- a/aos/fast_string_builder.h
+++ b/aos/fast_string_builder.h
@@ -72,14 +72,16 @@
template <typename T, typename>
void FastStringBuilder::AppendInt(T val, bool use_hex) {
if (use_hex) {
- // This is not fast like the decimal path, but hex should be used in limited cases.
+ // This is not fast like the decimal path, but hex should be used in limited
+ // cases.
std::stringstream ss;
ss << std::hex << val;
str_ += ss.str();
} else {
std::size_t index = str_.size();
Resize(absl::numbers_internal::kFastToBufferSize);
- char *end = absl::numbers_internal::FastIntToBuffer(val, str_.data() + index);
+ char *end =
+ absl::numbers_internal::FastIntToBuffer(val, str_.data() + index);
str_.resize(end - str_.data());
}
}
diff --git a/aos/flatbuffer_introspection.cc b/aos/flatbuffer_introspection.cc
index ddac795..4dd7f2a 100644
--- a/aos/flatbuffer_introspection.cc
+++ b/aos/flatbuffer_introspection.cc
@@ -10,10 +10,10 @@
using reflection::BaseType;
-void IntToString(int64_t val, reflection::BaseType type,
- FastStringBuilder *out, bool use_hex) {
- // For 1-byte types in hex mode, we need to cast to 2 bytes to get the desired output and
- // not unprintable characters.
+void IntToString(int64_t val, reflection::BaseType type, FastStringBuilder *out,
+ bool use_hex) {
+ // For 1-byte types in hex mode, we need to cast to 2 bytes to get the desired
+ // output and not unprintable characters.
if (use_hex) {
if (BaseType::UByte == type) {
out->AppendInt(static_cast<uint16_t>(val), true);
@@ -163,7 +163,8 @@
case BaseType::UInt:
case BaseType::Long:
case BaseType::ULong:
- IntOrEnumToString(GetAnyFieldI(*table, *field), type, enums, out, json_options.use_hex);
+ IntOrEnumToString(GetAnyFieldI(*table, *field), type, enums, out,
+ json_options.use_hex);
break;
case BaseType::Float:
case BaseType::Double:
diff --git a/aos/flatbuffer_introspection_test.cc b/aos/flatbuffer_introspection_test.cc
index e435709..a4b09f7 100644
--- a/aos/flatbuffer_introspection_test.cc
+++ b/aos/flatbuffer_introspection_test.cc
@@ -1,9 +1,10 @@
+#include "flatbuffers/reflection.h"
+#include "gtest/gtest.h"
+
#include "aos/json_to_flatbuffer.h"
#include "aos/json_to_flatbuffer_generated.h"
#include "aos/testing/path.h"
#include "aos/util/file.h"
-#include "flatbuffers/reflection.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/flatbuffer_merge.cc b/aos/flatbuffer_merge.cc
index f89165b..8e31596 100644
--- a/aos/flatbuffer_merge.cc
+++ b/aos/flatbuffer_merge.cc
@@ -2,10 +2,11 @@
#include <cstdio>
-#include "aos/flatbuffer_utils.h"
#include "flatbuffers/flatbuffers.h"
#include "flatbuffers/minireflect.h"
+#include "aos/flatbuffer_utils.h"
+
namespace aos {
namespace {
diff --git a/aos/flatbuffer_merge.h b/aos/flatbuffer_merge.h
index 4d2d395..c167464 100644
--- a/aos/flatbuffer_merge.h
+++ b/aos/flatbuffer_merge.h
@@ -4,9 +4,10 @@
#include <cstddef>
#include <string>
-#include "aos/flatbuffers.h"
#include "flatbuffers/flatbuffers.h"
+#include "aos/flatbuffers.h"
+
namespace aos {
// Merges 2 flat buffers with the provided type table into the builder. Returns
diff --git a/aos/flatbuffer_merge_test.cc b/aos/flatbuffer_merge_test.cc
index 89cecdb..4c59879 100644
--- a/aos/flatbuffer_merge_test.cc
+++ b/aos/flatbuffer_merge_test.cc
@@ -3,11 +3,12 @@
#include <string_view>
#include "absl/strings/escaping.h"
-#include "aos/json_to_flatbuffer.h"
-#include "aos/json_to_flatbuffer_generated.h"
#include "flatbuffers/minireflect.h"
#include "gtest/gtest.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/json_to_flatbuffer_generated.h"
+
namespace aos {
namespace testing {
diff --git a/aos/flatbuffers.h b/aos/flatbuffers.h
index cdf5339..bea1225 100644
--- a/aos/flatbuffers.h
+++ b/aos/flatbuffers.h
@@ -5,11 +5,12 @@
#include <string_view>
#include "absl/types/span.h"
+#include "flatbuffers/flatbuffers.h" // IWYU pragma: export
+#include "glog/logging.h"
+
#include "aos/containers/resizeable_buffer.h"
#include "aos/macros.h"
#include "aos/util/file.h"
-#include "flatbuffers/flatbuffers.h" // IWYU pragma: export
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/flatbuffers_test.cc b/aos/flatbuffers_test.cc
index ae8d6e6..dbbe817 100644
--- a/aos/flatbuffers_test.cc
+++ b/aos/flatbuffers_test.cc
@@ -1,10 +1,11 @@
#include "aos/flatbuffers.h"
#include "absl/strings/str_cat.h"
+#include "gtest/gtest.h"
+
#include "aos/json_to_flatbuffer.h"
#include "aos/json_to_flatbuffer_generated.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/init.cc b/aos/init.cc
index 9b00f1c..7d4840c 100644
--- a/aos/init.cc
+++ b/aos/init.cc
@@ -11,10 +11,11 @@
#include <cstdlib>
#include <cstring>
-#include "aos/realtime.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+#include "aos/realtime.h"
+
DEFINE_bool(coredump, false, "If true, write core dumps on failure.");
namespace aos {
diff --git a/aos/ipc_lib/aos_sync.cc b/aos/ipc_lib/aos_sync.cc
index 861a6fe..b8bd7a3 100644
--- a/aos/ipc_lib/aos_sync.cc
+++ b/aos/ipc_lib/aos_sync.cc
@@ -30,10 +30,11 @@
#include <type_traits>
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/macros.h"
#include "aos/thread_local.h"
#include "aos/util/compiler_memory_barrier.h"
-#include "glog/logging.h"
using ::aos::linux_code::ipc_lib::RunShmObservers;
diff --git a/aos/ipc_lib/core_lib.c b/aos/ipc_lib/core_lib.c
index a1e3315..bfe80c1 100644
--- a/aos/ipc_lib/core_lib.c
+++ b/aos/ipc_lib/core_lib.c
@@ -1,14 +1,12 @@
#include "aos/ipc_lib/core_lib.h"
+#include <assert.h>
#include <stdio.h>
#include <stdlib.h>
-#include <assert.h>
#include "aos/ipc_lib/shared_mem_types.h"
-static uint8_t aos_8max(uint8_t l, uint8_t r) {
- return (l > r) ? l : r;
-}
+static uint8_t aos_8max(uint8_t l, uint8_t r) { return (l > r) ? l : r; }
void *shm_malloc_aligned(size_t length, uint8_t alignment) {
// minimum alignments from
// <http://software.intel.com/en-us/articles/data-alignment-when-migrating-to-64-bit-intel-architecture/>
@@ -28,8 +26,7 @@
void *msg = NULL;
aos_shm_core *shm_core = global_core->mem_struct;
- int result =
- mutex_grab(&shm_core->msg_alloc_lock);
+ int result = mutex_grab(&shm_core->msg_alloc_lock);
#ifdef NDEBUG
(void)result;
#else
@@ -40,12 +37,14 @@
shm_core->msg_alloc = (uint8_t *)shm_core->msg_alloc - align_extra;
msg = shm_core->msg_alloc;
if (msg <= global_core->shared_mem) {
- fprintf(stderr, "core_lib: RAN OUT OF SHARED MEMORY!!!----------------------------------------------------------\n");
+ fprintf(stderr,
+ "core_lib: RAN OUT OF SHARED "
+ "MEMORY!!!---------------------------------------------------------"
+ "-\n");
printf("if you didn't see the stderr output just then, you should have\n");
abort();
}
- //printf("alloc %p\n", msg);
+ // printf("alloc %p\n", msg);
mutex_unlock(&shm_core->msg_alloc_lock);
return msg;
}
-
diff --git a/aos/ipc_lib/event.cc b/aos/ipc_lib/event.cc
index 940dfbd..6b58e33 100644
--- a/aos/ipc_lib/event.cc
+++ b/aos/ipc_lib/event.cc
@@ -2,9 +2,10 @@
#include <chrono>
-#include "aos/type_traits/type_traits.h"
#include "glog/logging.h"
+#include "aos/type_traits/type_traits.h"
+
namespace aos {
Event::Event() : impl_(0) {
diff --git a/aos/ipc_lib/event_test.cc b/aos/ipc_lib/event_test.cc
index fb2421e..40c48b2 100644
--- a/aos/ipc_lib/event_test.cc
+++ b/aos/ipc_lib/event_test.cc
@@ -3,9 +3,10 @@
#include <chrono>
#include <thread>
+#include "gtest/gtest.h"
+
#include "aos/testing/test_logging.h"
#include "aos/time/time.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/ipc_lib/eventfd_latency.cc b/aos/ipc_lib/eventfd_latency.cc
index 0507f26..efd326e 100644
--- a/aos/ipc_lib/eventfd_latency.cc
+++ b/aos/ipc_lib/eventfd_latency.cc
@@ -6,6 +6,8 @@
#include <random>
#include <thread>
+#include "gflags/gflags.h"
+
#include "aos/events/epoll.h"
#include "aos/init.h"
#include "aos/ipc_lib/latency_lib.h"
@@ -13,7 +15,6 @@
#include "aos/logging/logging.h"
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
// This is a demo program which uses named pipes to communicate.
// It measures both latency of a random timer thread, and latency of the
diff --git a/aos/ipc_lib/futex_latency.cc b/aos/ipc_lib/futex_latency.cc
index 1ec3fc1..80ba711 100644
--- a/aos/ipc_lib/futex_latency.cc
+++ b/aos/ipc_lib/futex_latency.cc
@@ -6,6 +6,8 @@
#include <random>
#include <thread>
+#include "gflags/gflags.h"
+
#include "aos/condition.h"
#include "aos/init.h"
#include "aos/ipc_lib/latency_lib.h"
@@ -14,7 +16,6 @@
#include "aos/mutex/mutex.h"
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
DEFINE_int32(seconds, 10, "Duration of the test to run");
DEFINE_int32(
diff --git a/aos/ipc_lib/index.h b/aos/ipc_lib/index.h
index c6a485f..4814075 100644
--- a/aos/ipc_lib/index.h
+++ b/aos/ipc_lib/index.h
@@ -6,9 +6,10 @@
#include <atomic>
#include <string>
-#include "aos/ipc_lib/shm_observers.h"
#include "glog/logging.h"
+#include "aos/ipc_lib/shm_observers.h"
+
namespace aos {
namespace ipc_lib {
diff --git a/aos/ipc_lib/ipc_comparison.cc b/aos/ipc_lib/ipc_comparison.cc
index fd1ff93..f15db53 100644
--- a/aos/ipc_lib/ipc_comparison.cc
+++ b/aos/ipc_lib/ipc_comparison.cc
@@ -19,6 +19,8 @@
#include <string>
#include <thread>
+#include "gflags/gflags.h"
+
#include "aos/condition.h"
#include "aos/init.h"
#include "aos/ipc_lib/event.h"
@@ -27,7 +29,6 @@
#include "aos/mutex/mutex.h"
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
DEFINE_string(method, "", "Which IPC method to use");
DEFINE_int32(messages, 1000000, "How many messages to send back and forth");
diff --git a/aos/ipc_lib/latency_lib.h b/aos/ipc_lib/latency_lib.h
index 2371efa..97bc434 100644
--- a/aos/ipc_lib/latency_lib.h
+++ b/aos/ipc_lib/latency_lib.h
@@ -7,9 +7,10 @@
#include <chrono>
-#include "aos/time/time.h"
#include "glog/logging.h"
+#include "aos/time/time.h"
+
namespace aos {
void TimerThread(monotonic_clock::time_point end_time, int timer_priority);
diff --git a/aos/ipc_lib/lockless_queue.cc b/aos/ipc_lib/lockless_queue.cc
index 8e0e3d8..3d2c0d1 100644
--- a/aos/ipc_lib/lockless_queue.cc
+++ b/aos/ipc_lib/lockless_queue.cc
@@ -11,11 +11,12 @@
#include <sstream>
#include "absl/strings/escaping.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/ipc_lib/lockless_queue_memory.h"
#include "aos/realtime.h"
#include "aos/util/compiler_memory_barrier.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_bool(dump_lockless_queue_data, false,
"If true, print the data out when dumping the queue.");
diff --git a/aos/ipc_lib/lockless_queue.h b/aos/ipc_lib/lockless_queue.h
index f7a85c3..9cc97c0 100644
--- a/aos/ipc_lib/lockless_queue.h
+++ b/aos/ipc_lib/lockless_queue.h
@@ -9,6 +9,7 @@
#include <vector>
#include "absl/types/span.h"
+
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/data_alignment.h"
#include "aos/ipc_lib/index.h"
diff --git a/aos/ipc_lib/lockless_queue_death_test.cc b/aos/ipc_lib/lockless_queue_death_test.cc
index 13eb1f5..3ed3099 100644
--- a/aos/ipc_lib/lockless_queue_death_test.cc
+++ b/aos/ipc_lib/lockless_queue_death_test.cc
@@ -15,6 +15,10 @@
#include <memory>
#include <thread>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/lockless_queue.h"
#include "aos/ipc_lib/lockless_queue_memory.h"
@@ -23,9 +27,6 @@
#include "aos/realtime.h"
#include "aos/testing/prevent_exit.h"
#include "aos/testing/test_logging.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace aos {
namespace ipc_lib {
diff --git a/aos/ipc_lib/lockless_queue_test.cc b/aos/ipc_lib/lockless_queue_test.cc
index b708ebc..34e2762 100644
--- a/aos/ipc_lib/lockless_queue_test.cc
+++ b/aos/ipc_lib/lockless_queue_test.cc
@@ -10,6 +10,9 @@
#include <random>
#include <thread>
+#include "gflags/gflags.h"
+#include "gtest/gtest.h"
+
#include "aos/events/epoll.h"
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/event.h"
@@ -17,8 +20,6 @@
#include "aos/ipc_lib/signalfd.h"
#include "aos/realtime.h"
#include "aos/util/phased_loop.h"
-#include "gflags/gflags.h"
-#include "gtest/gtest.h"
DEFINE_int32(min_iterations, 100,
"Minimum number of stress test iterations to run");
diff --git a/aos/ipc_lib/memory_mapped_queue.h b/aos/ipc_lib/memory_mapped_queue.h
index 784c559..653dc77 100644
--- a/aos/ipc_lib/memory_mapped_queue.h
+++ b/aos/ipc_lib/memory_mapped_queue.h
@@ -2,6 +2,7 @@
#define AOS_IPC_LIB_MEMORY_MAPPED_QUEUE_H_
#include "absl/types/span.h"
+
#include "aos/configuration.h"
#include "aos/ipc_lib/lockless_queue.h"
diff --git a/aos/ipc_lib/named_pipe_latency.cc b/aos/ipc_lib/named_pipe_latency.cc
index 11ea66e..032b72e 100644
--- a/aos/ipc_lib/named_pipe_latency.cc
+++ b/aos/ipc_lib/named_pipe_latency.cc
@@ -5,6 +5,8 @@
#include <random>
#include <thread>
+#include "gflags/gflags.h"
+
#include "aos/events/epoll.h"
#include "aos/init.h"
#include "aos/ipc_lib/latency_lib.h"
@@ -12,7 +14,6 @@
#include "aos/logging/logging.h"
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
// This is a demo program which uses named pipes to communicate.
// It measures both latency of a random timer thread, and latency of the
diff --git a/aos/ipc_lib/queue_racer.cc b/aos/ipc_lib/queue_racer.cc
index 414b7fb..7c0408d 100644
--- a/aos/ipc_lib/queue_racer.cc
+++ b/aos/ipc_lib/queue_racer.cc
@@ -4,9 +4,10 @@
#include <cstring>
#include <limits>
-#include "aos/ipc_lib/event.h"
#include "gtest/gtest.h"
+#include "aos/ipc_lib/event.h"
+
namespace aos {
namespace ipc_lib {
namespace {
diff --git a/aos/ipc_lib/shared_mem.cc b/aos/ipc_lib/shared_mem.cc
index c91bbe9..e5de366 100644
--- a/aos/ipc_lib/shared_mem.cc
+++ b/aos/ipc_lib/shared_mem.cc
@@ -11,9 +11,10 @@
#include <cstdlib>
#include <cstring>
+#include "glog/logging.h"
+
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/core_lib.h"
-#include "glog/logging.h"
// the path for the shared memory segment. see shm_open(3) for restrictions
#define AOS_SHM_NAME "/aos_shared_mem"
diff --git a/aos/ipc_lib/signal_stress.cc b/aos/ipc_lib/signal_stress.cc
index 57a4158..0559bce 100644
--- a/aos/ipc_lib/signal_stress.cc
+++ b/aos/ipc_lib/signal_stress.cc
@@ -5,6 +5,8 @@
#include <random>
#include <thread>
+#include "gflags/gflags.h"
+
#include "aos/events/epoll.h"
#include "aos/init.h"
#include "aos/ipc_lib/latency_lib.h"
@@ -12,7 +14,6 @@
#include "aos/logging/logging.h"
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
// This is a demo program which uses Real-Time posix signals to communicate.
// It measures both latency of a random timer thread, and latency of the
diff --git a/aos/ipc_lib/signalfd_test.cc b/aos/ipc_lib/signalfd_test.cc
index 1c8e750..40c0a13 100644
--- a/aos/ipc_lib/signalfd_test.cc
+++ b/aos/ipc_lib/signalfd_test.cc
@@ -1,9 +1,10 @@
#include "aos/ipc_lib/signalfd.h"
-#include "aos/testing/test_logging.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/testing/test_logging.h"
+
namespace aos {
namespace ipc_lib {
namespace testing {
diff --git a/aos/json_to_flatbuffer.cc b/aos/json_to_flatbuffer.cc
index fa1cf62..023deea 100644
--- a/aos/json_to_flatbuffer.cc
+++ b/aos/json_to_flatbuffer.cc
@@ -4,12 +4,13 @@
#include <cstdio>
#include <string_view>
-#include "aos/flatbuffer_utils.h"
-#include "aos/json_tokenizer.h"
#include "flatbuffers/flatbuffers.h"
#include "flatbuffers/minireflect.h"
#include "glog/logging.h"
+#include "aos/flatbuffer_utils.h"
+#include "aos/json_tokenizer.h"
+
// TODO(austin): Can we just do an Offset<void> ? It doesn't matter, so maybe
// just say that.
//
diff --git a/aos/json_to_flatbuffer.h b/aos/json_to_flatbuffer.h
index 6eab22a..01a3c3f 100644
--- a/aos/json_to_flatbuffer.h
+++ b/aos/json_to_flatbuffer.h
@@ -6,12 +6,13 @@
#include <string>
#include <string_view>
+#include "flatbuffers/flatbuffers.h"
+#include "flatbuffers/reflection.h"
+
#include "aos/fast_string_builder.h"
#include "aos/flatbuffer_utils.h"
#include "aos/flatbuffers.h"
#include "aos/util/file.h"
-#include "flatbuffers/flatbuffers.h"
-#include "flatbuffers/reflection.h"
namespace aos {
diff --git a/aos/json_to_flatbuffer_test.cc b/aos/json_to_flatbuffer_test.cc
index fddb431..d2b88f0 100644
--- a/aos/json_to_flatbuffer_test.cc
+++ b/aos/json_to_flatbuffer_test.cc
@@ -1,10 +1,11 @@
#include "aos/json_to_flatbuffer.h"
+#include "flatbuffers/minireflect.h"
+#include "gtest/gtest.h"
+
#include "aos/flatbuffer_merge.h"
#include "aos/json_to_flatbuffer_generated.h"
#include "aos/testing/path.h"
-#include "flatbuffers/minireflect.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/json_tokenizer.h b/aos/json_tokenizer.h
index dec2a32..892c575 100644
--- a/aos/json_tokenizer.h
+++ b/aos/json_tokenizer.h
@@ -4,6 +4,7 @@
#include <string>
#include <string_view>
#include <vector>
+
#include "flatbuffers/util.h"
namespace aos {
diff --git a/aos/libc/aos_strsignal.cc b/aos/libc/aos_strsignal.cc
index cf1aad1..b46e46e 100644
--- a/aos/libc/aos_strsignal.cc
+++ b/aos/libc/aos_strsignal.cc
@@ -2,9 +2,10 @@
#include <csignal>
-#include "aos/thread_local.h"
#include "glog/logging.h"
+#include "aos/thread_local.h"
+
const char *aos_strsignal(int signal) {
AOS_THREAD_LOCAL char buffer[512];
@@ -17,15 +18,15 @@
// sys_strsignal depricated in glibc2.32
#ifdef __GLIBC__
- #if __GLIBC_PREREQ(2, 32)
+#if __GLIBC_PREREQ(2, 32)
if (signal > 0 && signal < NSIG && sigdescr_np(signal) != nullptr) {
return sigdescr_np(signal);
}
- #else
+#else
if (signal > 0 && signal < NSIG && sys_siglist[signal] != nullptr) {
return sys_siglist[signal];
}
- #endif
+#endif
// If not using GLIBC assume we can use sys_siglist
#else
if (signal > 0 && signal < NSIG && sys_siglist[signal] != nullptr) {
diff --git a/aos/logging/context.cc b/aos/logging/context.cc
index 9eaac50..02ad3eb 100644
--- a/aos/logging/context.cc
+++ b/aos/logging/context.cc
@@ -18,10 +18,11 @@
extern char *program_invocation_name;
extern char *program_invocation_short_name;
+#include "glog/logging.h"
+
#include "aos/die.h"
#include "aos/logging/implementations.h"
#include "aos/thread_local.h"
-#include "glog/logging.h"
namespace aos {
namespace logging {
diff --git a/aos/logging/dynamic_logging.h b/aos/logging/dynamic_logging.h
index 7309bfc..0dfd181 100644
--- a/aos/logging/dynamic_logging.h
+++ b/aos/logging/dynamic_logging.h
@@ -1,8 +1,9 @@
#include <string>
+#include "glog/logging.h"
+
#include "aos/events/event_loop.h"
#include "aos/logging/dynamic_log_command_generated.h"
-#include "glog/logging.h"
// The purpose of this class is to listen for /aos aos.logging.DynamicLogCommand
// and make changes to the log level of the current application based on that
diff --git a/aos/logging/dynamic_logging_test.cc b/aos/logging/dynamic_logging_test.cc
index e9cb475..2d051a8 100644
--- a/aos/logging/dynamic_logging_test.cc
+++ b/aos/logging/dynamic_logging_test.cc
@@ -2,11 +2,12 @@
#include <sys/stat.h>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
using aos::testing::ArtifactPath;
diff --git a/aos/logging/implementations_test.cc b/aos/logging/implementations_test.cc
index 5f98c35..d08f85f 100644
--- a/aos/logging/implementations_test.cc
+++ b/aos/logging/implementations_test.cc
@@ -4,11 +4,12 @@
#include <cinttypes>
#include <string>
-#include "aos/logging/printf_formats.h"
-#include "aos/time/time.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/logging/printf_formats.h"
+#include "aos/time/time.h"
+
using ::testing::AssertionFailure;
using ::testing::AssertionResult;
using ::testing::AssertionSuccess;
diff --git a/aos/logging/interface.cc b/aos/logging/interface.cc
index 336dbc0..233357d 100644
--- a/aos/logging/interface.cc
+++ b/aos/logging/interface.cc
@@ -6,10 +6,11 @@
#include <functional>
#include <type_traits>
+#include "glog/logging.h"
+
#include "aos/die.h"
#include "aos/logging/context.h"
#include "aos/logging/implementations.h"
-#include "glog/logging.h"
namespace aos {
namespace logging {
diff --git a/aos/logging/log_namer.cc b/aos/logging/log_namer.cc
index ed57caa..3deb89d 100644
--- a/aos/logging/log_namer.cc
+++ b/aos/logging/log_namer.cc
@@ -14,9 +14,10 @@
#include <ctime>
#include <string>
-#include "aos/configuration.h"
#include "glog/logging.h"
+#include "aos/configuration.h"
+
DEFINE_string(logging_folder,
#ifdef AOS_ARCHITECTURE_arm_frc
"",
diff --git a/aos/logging/log_namer.h b/aos/logging/log_namer.h
index 44e93bf..a993d31 100644
--- a/aos/logging/log_namer.h
+++ b/aos/logging/log_namer.h
@@ -1,8 +1,8 @@
#ifndef AOS_LOGGING_LOG_NAMER_H_
#define AOS_LOGGING_LOG_NAMER_H_
-#include <string>
#include <optional>
+#include <string>
namespace aos {
namespace logging {
diff --git a/aos/mutex/mutex.cc b/aos/mutex/mutex.cc
index 18d233d..5c5dcbe 100644
--- a/aos/mutex/mutex.cc
+++ b/aos/mutex/mutex.cc
@@ -4,9 +4,10 @@
#include <cstdio>
#include <cstring>
-#include "aos/type_traits/type_traits.h"
#include "glog/logging.h"
+#include "aos/type_traits/type_traits.h"
+
namespace aos {
// Lock and Unlock use the return values of mutex_lock/mutex_unlock
diff --git a/aos/mutex/mutex.h b/aos/mutex/mutex.h
index 1a2a028..869f429 100644
--- a/aos/mutex/mutex.h
+++ b/aos/mutex/mutex.h
@@ -1,10 +1,11 @@
#ifndef AOS_MUTEX_H_
#define AOS_MUTEX_H_
+#include "glog/logging.h"
+
#include "aos/ipc_lib/aos_sync.h"
#include "aos/macros.h"
#include "aos/type_traits/type_traits.h"
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/mutex/mutex_test.cc b/aos/mutex/mutex_test.cc
index bd8a548..ea57362 100644
--- a/aos/mutex/mutex_test.cc
+++ b/aos/mutex/mutex_test.cc
@@ -7,6 +7,8 @@
#include <cmath>
#include <thread>
+#include "gtest/gtest.h"
+
#include "aos/die.h"
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/core_lib.h"
@@ -14,7 +16,6 @@
#include "aos/testing/test_shm.h"
#include "aos/time/time.h"
#include "aos/util/death_test_log_implementation.h"
-#include "gtest/gtest.h"
namespace aos {
namespace testing {
diff --git a/aos/network/log_web_proxy_main.cc b/aos/network/log_web_proxy_main.cc
index 34e40a2..7833808 100644
--- a/aos/network/log_web_proxy_main.cc
+++ b/aos/network/log_web_proxy_main.cc
@@ -4,13 +4,14 @@
// /path/to/logfile And then opening the plotting webpage at
// http://localhost:8080/graph.html
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/init.h"
#include "aos/network/web_proxy.h"
-#include "gflags/gflags.h"
DEFINE_string(data_dir, "www", "Directory to serve data files from");
DEFINE_string(node, "", "Directory to serve data files from");
@@ -64,8 +65,7 @@
}
aos::web_proxy::WebProxy web_proxy(
- event_loop.get(),
- reader.event_loop_factory()->scheduler_epoll(),
+ event_loop.get(), reader.event_loop_factory()->scheduler_epoll(),
aos::web_proxy::StoreHistory::kYes, FLAGS_buffer_size);
web_proxy.SetDataPath(FLAGS_data_dir.c_str());
diff --git a/aos/network/message_bridge_client_lib.cc b/aos/network/message_bridge_client_lib.cc
index 0aefb5c..38512c4 100644
--- a/aos/network/message_bridge_client_lib.cc
+++ b/aos/network/message_bridge_client_lib.cc
@@ -3,6 +3,9 @@
#include <chrono>
#include <string_view>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/shm_event_loop.h"
#include "aos/network/connect_generated.h"
@@ -13,8 +16,6 @@
#include "aos/network/timestamp_generated.h"
#include "aos/unique_malloc_ptr.h"
#include "aos/util/file.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
// This application receives messages from another node and re-publishes them on
// this node.
diff --git a/aos/network/message_bridge_protocol.cc b/aos/network/message_bridge_protocol.cc
index 38e16b2..c661c4c 100644
--- a/aos/network/message_bridge_protocol.cc
+++ b/aos/network/message_bridge_protocol.cc
@@ -2,11 +2,12 @@
#include <string_view>
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/configuration.h"
#include "aos/flatbuffer_merge.h"
#include "aos/flatbuffers.h"
#include "aos/network/connect_generated.h"
-#include "flatbuffers/flatbuffers.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/message_bridge_server.cc b/aos/network/message_bridge_server.cc
index ec3cdc4..04b07c3 100644
--- a/aos/network/message_bridge_server.cc
+++ b/aos/network/message_bridge_server.cc
@@ -1,10 +1,11 @@
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/dynamic_logging.h"
#include "aos/network/message_bridge_server_lib.h"
#include "aos/sha256.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(config, "aos_config.json", "Path to the config.");
DEFINE_int32(rt_priority, -1, "If > 0, run as this RT priority");
diff --git a/aos/network/message_bridge_server_lib.cc b/aos/network/message_bridge_server_lib.cc
index df6d4b1..a474e88 100644
--- a/aos/network/message_bridge_server_lib.cc
+++ b/aos/network/message_bridge_server_lib.cc
@@ -2,6 +2,9 @@
#include "absl/strings/str_cat.h"
#include "absl/types/span.h"
+#include "glog/logging.h"
+#include "glog/raw_logging.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/logger_generated.h"
#include "aos/events/shm_event_loop.h"
@@ -12,8 +15,6 @@
#include "aos/network/remote_message_generated.h"
#include "aos/network/sctp_server.h"
#include "aos/network/timestamp_channel.h"
-#include "glog/logging.h"
-#include "glog/raw_logging.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/message_bridge_server_lib.h b/aos/network/message_bridge_server_lib.h
index 98e1dd0..d74a847 100644
--- a/aos/network/message_bridge_server_lib.h
+++ b/aos/network/message_bridge_server_lib.h
@@ -4,6 +4,8 @@
#include <deque>
#include "absl/types/span.h"
+#include "glog/logging.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/logger_generated.h"
#include "aos/events/shm_event_loop.h"
@@ -16,7 +18,6 @@
#include "aos/network/sctp_server.h"
#include "aos/network/timestamp_channel.h"
#include "aos/network/timestamp_generated.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
@@ -65,7 +66,8 @@
// Needs to be called when a node (might have) disconnected.
// Returns the node index which [dis]connected, or -1 if it didn't match.
// reconnected is a vector of associations which have already connected.
- // This will potentially grow to the number of associations as we find reconnects.
+ // This will potentially grow to the number of associations as we find
+ // reconnects.
int NodeDisconnected(sctp_assoc_t assoc_id);
int NodeConnected(const Node *node, sctp_assoc_t assoc_id, int stream,
SctpServer *server, FixedAllocator *allocator,
diff --git a/aos/network/message_bridge_test.cc b/aos/network/message_bridge_test.cc
index 681001e..153f1e5 100644
--- a/aos/network/message_bridge_test.cc
+++ b/aos/network/message_bridge_test.cc
@@ -2,6 +2,8 @@
#include <thread>
#include "absl/strings/str_cat.h"
+#include "gtest/gtest.h"
+
#include "aos/events/ping_generated.h"
#include "aos/events/pong_generated.h"
#include "aos/ipc_lib/event.h"
@@ -11,7 +13,6 @@
#include "aos/sha256.h"
#include "aos/testing/path.h"
#include "aos/util/file.h"
-#include "gtest/gtest.h"
DECLARE_string(boot_uuid);
@@ -423,54 +424,54 @@
// Wait until we are connected, then send.
int ping_count = 0;
int pi1_server_statistics_count = 0;
- ping_event_loop.MakeWatcher("/pi1/aos", [this, &ping_count, &ping_sender,
- &pi1_server_statistics_count,
- &long_data](
- const ServerStatistics &stats) {
- VLOG(1) << "/pi1/aos ServerStatistics " << FlatbufferToJson(&stats);
+ ping_event_loop.MakeWatcher(
+ "/pi1/aos",
+ [this, &ping_count, &ping_sender, &pi1_server_statistics_count,
+ &long_data](const ServerStatistics &stats) {
+ VLOG(1) << "/pi1/aos ServerStatistics " << FlatbufferToJson(&stats);
- ASSERT_TRUE(stats.has_connections());
- EXPECT_EQ(stats.connections()->size(), 1);
+ ASSERT_TRUE(stats.has_connections());
+ EXPECT_EQ(stats.connections()->size(), 1);
- bool connected = false;
- for (const ServerConnection *connection : *stats.connections()) {
- // Confirm that we are estimating the server time offset correctly. It
- // should be about 0 since we are on the same machine here.
- if (connection->has_monotonic_offset()) {
- EXPECT_LT(chrono::nanoseconds(connection->monotonic_offset()),
- chrono::milliseconds(1));
- EXPECT_GT(chrono::nanoseconds(connection->monotonic_offset()),
- chrono::milliseconds(-1));
- ++pi1_server_statistics_count;
- }
+ bool connected = false;
+ for (const ServerConnection *connection : *stats.connections()) {
+ // Confirm that we are estimating the server time offset correctly. It
+ // should be about 0 since we are on the same machine here.
+ if (connection->has_monotonic_offset()) {
+ EXPECT_LT(chrono::nanoseconds(connection->monotonic_offset()),
+ chrono::milliseconds(1));
+ EXPECT_GT(chrono::nanoseconds(connection->monotonic_offset()),
+ chrono::milliseconds(-1));
+ ++pi1_server_statistics_count;
+ }
- if (connection->node()->name()->string_view() ==
- pi2_client_event_loop->node()->name()->string_view()) {
- if (connection->state() == State::CONNECTED) {
- EXPECT_TRUE(connection->has_boot_uuid());
- EXPECT_EQ(connection->connection_count(), 1u);
- EXPECT_LT(monotonic_clock::time_point(chrono::nanoseconds(
- connection->connected_since_time())),
- monotonic_clock::now());
- connected = true;
- } else {
- EXPECT_FALSE(connection->has_connection_count());
- EXPECT_FALSE(connection->has_connected_since_time());
+ if (connection->node()->name()->string_view() ==
+ pi2_client_event_loop->node()->name()->string_view()) {
+ if (connection->state() == State::CONNECTED) {
+ EXPECT_TRUE(connection->has_boot_uuid());
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_LT(monotonic_clock::time_point(chrono::nanoseconds(
+ connection->connected_since_time())),
+ monotonic_clock::now());
+ connected = true;
+ } else {
+ EXPECT_FALSE(connection->has_connection_count());
+ EXPECT_FALSE(connection->has_connected_since_time());
+ }
+ }
}
- }
- }
- if (connected) {
- VLOG(1) << "Connected! Sent ping.";
- auto builder = ping_sender.MakeBuilder();
- builder.fbb()->CreateString(long_data);
- examples::Ping::Builder ping_builder =
- builder.MakeBuilder<examples::Ping>();
- ping_builder.add_value(ping_count + 971);
- EXPECT_EQ(builder.Send(ping_builder.Finish()), RawSender::Error::kOk);
- ++ping_count;
- }
- });
+ if (connected) {
+ VLOG(1) << "Connected! Sent ping.";
+ auto builder = ping_sender.MakeBuilder();
+ builder.fbb()->CreateString(long_data);
+ examples::Ping::Builder ping_builder =
+ builder.MakeBuilder<examples::Ping>();
+ ping_builder.add_value(ping_count + 971);
+ EXPECT_EQ(builder.Send(ping_builder.Finish()), RawSender::Error::kOk);
+ ++ping_count;
+ }
+ });
// Confirm both client and server statistics messages have decent offsets in
// them.
diff --git a/aos/network/multinode_timestamp_filter.cc b/aos/network/multinode_timestamp_filter.cc
index 32d345a..417845b 100644
--- a/aos/network/multinode_timestamp_filter.cc
+++ b/aos/network/multinode_timestamp_filter.cc
@@ -5,12 +5,13 @@
#include <map>
#include "absl/strings/str_join.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/boot_timestamp.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/network/timestamp_filter.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
DEFINE_bool(timestamps_to_csv, false,
"If true, write all the time synchronization information to a set "
@@ -278,8 +279,7 @@
result.hessian = Eigen::MatrixXd::Zero(states(), states());
// Constrain the average of the times.
- result.A =
- Eigen::MatrixXd::Ones(1, states()) / static_cast<double>(states());
+ result.A = Eigen::MatrixXd::Ones(1, states()) / static_cast<double>(states());
result.Axmb = Eigen::VectorXd::Zero(1);
if (active_constraints.size() > 0 || all) {
diff --git a/aos/network/multinode_timestamp_filter.h b/aos/network/multinode_timestamp_filter.h
index 5864334..e3bfde2 100644
--- a/aos/network/multinode_timestamp_filter.h
+++ b/aos/network/multinode_timestamp_filter.h
@@ -7,13 +7,14 @@
#include "Eigen/Dense"
#include "absl/container/btree_set.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/boot_timestamp.h"
#include "aos/events/logging/logfile_utils.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/network/timestamp_filter.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
@@ -317,7 +318,6 @@
// Points to solve equality constraints to.
absl::Span<const logger::BootTimestamp> points_;
-
};
// Helpers to convert times between the monotonic and distributed clocks for
@@ -552,8 +552,7 @@
void FlushAllSamples(bool finish);
// Adds the solution to last_distributed_.
- void UpdateSolution(
- std::vector<logger::BootTimestamp> result_times);
+ void UpdateSolution(std::vector<logger::BootTimestamp> result_times);
void WriteFilter(
NoncausalTimestampFilter *next_filter,
diff --git a/aos/network/multinode_timestamp_filter_test.cc b/aos/network/multinode_timestamp_filter_test.cc
index 209de06..1446e77 100644
--- a/aos/network/multinode_timestamp_filter_test.cc
+++ b/aos/network/multinode_timestamp_filter_test.cc
@@ -2,12 +2,13 @@
#include <chrono>
+#include "gtest/gtest.h"
+
#include "aos/configuration.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/macros.h"
#include "aos/network/testing_time_converter.h"
#include "aos/network/timestamp_filter.h"
-#include "gtest/gtest.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/sctp_client.cc b/aos/network/sctp_client.cc
index ab70c20..b7b7a93 100644
--- a/aos/network/sctp_client.cc
+++ b/aos/network/sctp_client.cc
@@ -9,9 +9,10 @@
#include <cstring>
#include <string_view>
+#include "glog/logging.h"
+
#include "aos/network/sctp_lib.h"
#include "aos/unique_malloc_ptr.h"
-#include "glog/logging.h"
DEFINE_int32(sinit_max_init_timeout, 0,
"Timeout in milliseconds for retrying the INIT packet when "
diff --git a/aos/network/sctp_client.h b/aos/network/sctp_client.h
index d7a2b43..5affecc 100644
--- a/aos/network/sctp_client.h
+++ b/aos/network/sctp_client.h
@@ -5,9 +5,10 @@
#include <cstdlib>
#include <string_view>
+#include "glog/logging.h"
+
#include "aos/network/sctp_lib.h"
#include "aos/unique_malloc_ptr.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/sctp_lib.h b/aos/network/sctp_lib.h
index a852365..42cecea 100644
--- a/aos/network/sctp_lib.h
+++ b/aos/network/sctp_lib.h
@@ -10,10 +10,11 @@
#include <string_view>
#include <vector>
-#include "aos/unique_malloc_ptr.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+#include "aos/unique_malloc_ptr.h"
+
namespace aos {
namespace message_bridge {
diff --git a/aos/network/sctp_lib_test.cc b/aos/network/sctp_lib_test.cc
index 53b285f..f297a82 100644
--- a/aos/network/sctp_lib_test.cc
+++ b/aos/network/sctp_lib_test.cc
@@ -1,8 +1,9 @@
#include "aos/network/sctp_lib.h"
-#include "aos/init.h"
#include "gflags/gflags.h"
+#include "aos/init.h"
+
DEFINE_string(host, "", "host to resolve");
DEFINE_int32(port, 2977, "port to use");
diff --git a/aos/network/sctp_server.cc b/aos/network/sctp_server.cc
index a78aa34..cfc8512 100644
--- a/aos/network/sctp_server.cc
+++ b/aos/network/sctp_server.cc
@@ -13,9 +13,10 @@
#include <memory>
#include <thread>
+#include "glog/logging.h"
+
#include "aos/network/sctp_lib.h"
#include "aos/unique_malloc_ptr.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/sctp_server.h b/aos/network/sctp_server.h
index 800c2c1..6d0b44e 100644
--- a/aos/network/sctp_server.h
+++ b/aos/network/sctp_server.h
@@ -13,9 +13,10 @@
#include <cstring>
#include <memory>
+#include "glog/logging.h"
+
#include "aos/network/sctp_lib.h"
#include "aos/unique_malloc_ptr.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/timestamp_channel.h b/aos/network/timestamp_channel.h
index d95edda..c8e88d9 100644
--- a/aos/network/timestamp_channel.h
+++ b/aos/network/timestamp_channel.h
@@ -5,10 +5,11 @@
#include <vector>
#include "absl/container/btree_map.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/event_loop.h"
#include "aos/network/remote_message_generated.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/timestamp_channel_test.cc b/aos/network/timestamp_channel_test.cc
index e3850ca..a217a74 100644
--- a/aos/network/timestamp_channel_test.cc
+++ b/aos/network/timestamp_channel_test.cc
@@ -1,12 +1,13 @@
#include "aos/network/timestamp_channel.h"
+#include "gtest/gtest.h"
+
#include "aos/configuration.h"
#include "aos/events/ping_generated.h"
#include "aos/events/shm_event_loop.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
DECLARE_string(override_hostname);
diff --git a/aos/network/timestamp_filter.cc b/aos/network/timestamp_filter.cc
index 4664f6f..77d3726 100644
--- a/aos/network/timestamp_filter.cc
+++ b/aos/network/timestamp_filter.cc
@@ -7,6 +7,7 @@
#include "absl/numeric/int128.h"
#include "absl/strings/str_cat.h"
#include "absl/strings/str_format.h"
+
#include "aos/configuration.h"
#include "aos/time/time.h"
diff --git a/aos/network/timestamp_filter.h b/aos/network/timestamp_filter.h
index 3e2db01..8b597bd 100644
--- a/aos/network/timestamp_filter.h
+++ b/aos/network/timestamp_filter.h
@@ -8,10 +8,11 @@
#include <deque>
#include "absl/numeric/int128.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/boot_timestamp.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/timestamp_filter_test.cc b/aos/network/timestamp_filter_test.cc
index e33fdd1..07f7d6d 100644
--- a/aos/network/timestamp_filter_test.cc
+++ b/aos/network/timestamp_filter_test.cc
@@ -2,11 +2,12 @@
#include <chrono>
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
#include "aos/configuration.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/macros.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
namespace aos {
namespace message_bridge {
diff --git a/aos/network/web_proxy.cc b/aos/network/web_proxy.cc
index d384f72..d7ab418 100644
--- a/aos/network/web_proxy.cc
+++ b/aos/network/web_proxy.cc
@@ -1,11 +1,12 @@
#include "aos/network/web_proxy.h"
+#include "glog/logging.h"
+
#include "aos/flatbuffer_merge.h"
#include "aos/network/connect_generated.h"
#include "aos/network/web_proxy_generated.h"
#include "aos/network/web_proxy_utils.h"
#include "aos/seasocks/seasocks_logger.h"
-#include "glog/logging.h"
#include "internal/Embedded.h"
extern "C" {
diff --git a/aos/network/web_proxy.h b/aos/network/web_proxy.h
index e38dcea..5526d07 100644
--- a/aos/network/web_proxy.h
+++ b/aos/network/web_proxy.h
@@ -5,6 +5,8 @@
#include <map>
#include <set>
+#include "flatbuffers/flatbuffers.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/mutex/mutex.h"
@@ -12,7 +14,6 @@
#include "aos/network/rawrtc.h"
#include "aos/network/web_proxy_generated.h"
#include "aos/seasocks/seasocks_logger.h"
-#include "flatbuffers/flatbuffers.h"
#include "seasocks/Server.h"
#include "seasocks/StringUtil.h"
#include "seasocks/WebSocket.h"
diff --git a/aos/network/web_proxy_main.cc b/aos/network/web_proxy_main.cc
index 2a92a88..7684b06 100644
--- a/aos/network/web_proxy_main.cc
+++ b/aos/network/web_proxy_main.cc
@@ -1,8 +1,9 @@
+#include "gflags/gflags.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/init.h"
#include "aos/network/web_proxy.h"
-#include "gflags/gflags.h"
DEFINE_string(config, "aos_config.json", "File path of aos configuration");
DEFINE_string(data_dir, "www", "Directory to serve data files from");
diff --git a/aos/network/web_proxy_utils.h b/aos/network/web_proxy_utils.h
index de64329..c5e2716 100644
--- a/aos/network/web_proxy_utils.h
+++ b/aos/network/web_proxy_utils.h
@@ -1,4 +1,5 @@
#include "absl/types/span.h"
+
#include "aos/events/event_loop.h"
#include "aos/flatbuffers.h"
#include "aos/network/web_proxy_generated.h"
diff --git a/aos/realtime.cc b/aos/realtime.cc
index 2f5e1d9..14849a4 100644
--- a/aos/realtime.cc
+++ b/aos/realtime.cc
@@ -15,10 +15,11 @@
#include <cstdlib>
#include <cstring>
-#include "aos/thread_local.h"
#include "glog/logging.h"
#include "glog/raw_logging.h"
+#include "aos/thread_local.h"
+
DEFINE_bool(
die_on_malloc, true,
"If true, die when the application allocates memory in a RT section.");
diff --git a/aos/realtime_test.cc b/aos/realtime_test.cc
index 35936ee..97f21c8 100644
--- a/aos/realtime_test.cc
+++ b/aos/realtime_test.cc
@@ -1,10 +1,11 @@
#include "aos/realtime.h"
-#include "aos/init.h"
#include "glog/logging.h"
#include "glog/raw_logging.h"
#include "gtest/gtest.h"
+#include "aos/init.h"
+
DECLARE_bool(die_on_malloc);
namespace aos {
diff --git a/aos/seasocks/internal/Config.h b/aos/seasocks/internal/Config.h
index e99d356..77c455d 100644
--- a/aos/seasocks/internal/Config.h
+++ b/aos/seasocks/internal/Config.h
@@ -1,6 +1,8 @@
-// Generated by Comran from version 1.1.2 with the autoconf scripts from upstream
+// Generated by Comran from version 1.1.2 with the autoconf scripts from
+// upstream
/* src/main/c/internal/Config.h. Generated from Config.h.in by configure. */
-/* src/main/c/internal/Config.h.in. Generated from configure.ac by autoheader. */
+/* src/main/c/internal/Config.h.in. Generated from configure.ac by autoheader.
+ */
/* Define to 1 if you have the <arpa/inet.h> header file. */
#define HAVE_ARPA_INET_H 1
@@ -194,8 +196,8 @@
previous line. Perhaps some future version of Sun C++ will work with
restrict; if so, hopefully it defines __RESTRICT like Sun C does. */
#if defined __SUNPRO_CC && !defined __RESTRICT
-# define _Restrict
-# define __restrict__
+#define _Restrict
+#define __restrict__
#endif
/* Define to `unsigned int' if <sys/types.h> does not define. */
diff --git a/aos/seasocks/seasocks_logger.cc b/aos/seasocks/seasocks_logger.cc
index 3cf3bd9..440a3ba 100644
--- a/aos/seasocks/seasocks_logger.cc
+++ b/aos/seasocks/seasocks_logger.cc
@@ -1,6 +1,7 @@
#include "aos/seasocks/seasocks_logger.h"
#include "glog/logging.h"
+
#include "seasocks/PrintfLogger.h"
namespace aos {
diff --git a/aos/starter/irq_affinity.cc b/aos/starter/irq_affinity.cc
index 7b74fe1..8b6bb2a 100644
--- a/aos/starter/irq_affinity.cc
+++ b/aos/starter/irq_affinity.cc
@@ -4,12 +4,13 @@
#include <sys/resource.h>
#include <sys/types.h>
+#include "gflags/gflags.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/starter/irq_affinity_lib.h"
#include "aos/starter/kthread_generated.h"
#include "aos/util/top.h"
-#include "gflags/gflags.h"
DEFINE_string(config, "aos_config.json", "File path of aos configuration");
diff --git a/aos/starter/irq_affinity_lib.cc b/aos/starter/irq_affinity_lib.cc
index ccc4853..2128f52 100644
--- a/aos/starter/irq_affinity_lib.cc
+++ b/aos/starter/irq_affinity_lib.cc
@@ -5,6 +5,7 @@
#include "absl/strings/escaping.h"
#include "absl/strings/match.h"
#include "absl/strings/str_split.h"
+
#include "aos/scoped/scoped_fd.h"
namespace aos {
@@ -165,7 +166,8 @@
} else {
// And then either "Level/Edge" and then the actions, or just
// the actions. Kernel has CONFIG_GENERIC_IRQ_SHOW_LEVEL
- // enabled if the string starts with either.. Strip it until someone finds a use.
+ // enabled if the string starts with either.. Strip it until
+ // someone finds a use.
if (absl::StartsWith(trailing_element, "Level")) {
trailing_element =
absl::StripAsciiWhitespace(trailing_element.substr(5));
diff --git a/aos/starter/irq_affinity_lib.h b/aos/starter/irq_affinity_lib.h
index ccb7d03..8bbad15 100644
--- a/aos/starter/irq_affinity_lib.h
+++ b/aos/starter/irq_affinity_lib.h
@@ -48,7 +48,6 @@
const std::vector<InterruptState> &states() const { return states_; }
private:
-
// Buffer to hold the contents of /proc/interrupts to avoid re-allocating
// continually.
std::vector<char> interrupts_content_;
diff --git a/aos/starter/irq_affinity_lib_test.cc b/aos/starter/irq_affinity_lib_test.cc
index 0fe240b..f491f6f 100644
--- a/aos/starter/irq_affinity_lib_test.cc
+++ b/aos/starter/irq_affinity_lib_test.cc
@@ -1,7 +1,7 @@
#include "aos/starter/irq_affinity_lib.h"
-#include "gtest/gtest.h"
#include "gmock/gmock.h"
+#include "gtest/gtest.h"
namespace aos::testing {
@@ -270,9 +270,10 @@
EXPECT_EQ(status.states()[0].interrupt_number, 8);
EXPECT_EQ(status.states()[0].chip_name, "IR-IO-APIC");
EXPECT_THAT(status.states()[0].count,
- ::testing::ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
+ ::testing::ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0));
EXPECT_EQ(status.states()[0].hwirq, "8-edge");
EXPECT_THAT(status.states()[0].actions, ::testing::ElementsAre("rtc0"));
}
-} // aos::testing
+} // namespace aos::testing
diff --git a/aos/starter/starter_cmd.cc b/aos/starter/starter_cmd.cc
index 9cf2436..6c172fe 100644
--- a/aos/starter/starter_cmd.cc
+++ b/aos/starter/starter_cmd.cc
@@ -8,11 +8,12 @@
#include "absl/strings/str_format.h"
#include "absl/strings/str_join.h"
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
+#include "aos/starter/starter_rpc_lib.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
-#include "starter_rpc_lib.h"
DEFINE_string(config, "aos_config.json", "File path of aos configuration");
// TODO(james): Bash autocompletion for node names.
diff --git a/aos/starter/starter_rpc_lib.cc b/aos/starter/starter_rpc_lib.cc
index 5f14e21..7f8f53c 100644
--- a/aos/starter/starter_rpc_lib.cc
+++ b/aos/starter/starter_rpc_lib.cc
@@ -1,9 +1,10 @@
-#include "starter_rpc_lib.h"
+#include "aos/starter/starter_rpc_lib.h"
+
+#include "glog/logging.h"
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/starter/starterd_lib.h"
-#include "glog/logging.h"
namespace aos {
namespace starter {
diff --git a/aos/starter/starter_test.cc b/aos/starter/starter_test.cc
index 94566ae..37efa98 100644
--- a/aos/starter/starter_test.cc
+++ b/aos/starter/starter_test.cc
@@ -3,16 +3,17 @@
#include <future>
#include <thread>
+#include "gtest/gtest.h"
+
#include "aos/events/ping_generated.h"
#include "aos/events/pong_generated.h"
#include "aos/ipc_lib/event.h"
#include "aos/network/team_number.h"
+#include "aos/starter/starter_rpc_lib.h"
+#include "aos/starter/starterd_lib.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
#include "aos/util/file.h"
-#include "gtest/gtest.h"
-#include "starter_rpc_lib.h"
-#include "starterd_lib.h"
using aos::testing::ArtifactPath;
diff --git a/aos/starter/starterd.cc b/aos/starter/starterd.cc
index 19117de..d6caf3f 100644
--- a/aos/starter/starterd.cc
+++ b/aos/starter/starterd.cc
@@ -1,10 +1,11 @@
#include <pwd.h>
#include <sys/types.h>
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "aos/starter/starterd_lib.h"
#include "aos/util/file.h"
-#include "gflags/gflags.h"
DEFINE_string(config, "aos_config.json", "File path of aos configuration");
DEFINE_string(user, "",
@@ -41,7 +42,8 @@
constexpr int kUnchanged = -1;
if (setresgid(/* ruid */ gid, /* euid */ gid,
/* suid */ kUnchanged) != 0) {
- PLOG(FATAL) << "Failed to change GID to " << FLAGS_user << ", group " << gid;
+ PLOG(FATAL) << "Failed to change GID to " << FLAGS_user << ", group "
+ << gid;
}
if (setresuid(/* ruid */ uid, /* euid */ uid,
diff --git a/aos/starter/starterd_lib.cc b/aos/starter/starterd_lib.cc
index 30e0887..949c8a7 100644
--- a/aos/starter/starterd_lib.cc
+++ b/aos/starter/starterd_lib.cc
@@ -1,13 +1,14 @@
-#include "starterd_lib.h"
+#include "aos/starter/starterd_lib.h"
#include <algorithm>
#include <utility>
#include "absl/strings/str_format.h"
-#include "aos/json_to_flatbuffer.h"
#include "glog/logging.h"
#include "glog/stl_logging.h"
+#include "aos/json_to_flatbuffer.h"
+
// FLAGS_shm_base is defined elsewhere, declare it here so it can be used
// to override the shared memory folder for unit testing.
DECLARE_string(shm_base);
diff --git a/aos/starter/subprocess.cc b/aos/starter/subprocess.cc
index a05ab74..b86b12d 100644
--- a/aos/starter/subprocess.cc
+++ b/aos/starter/subprocess.cc
@@ -280,7 +280,7 @@
}
std::vector<char *> cargs = CArgs();
- const char* path = run_as_sudo_ ? kSudo : path_.c_str();
+ const char *path = run_as_sudo_ ? kSudo : path_.c_str();
execvp(path, cargs.data());
// If we got here, something went wrong
diff --git a/aos/starter/subprocess.h b/aos/starter/subprocess.h
index 99ad053..1f16168 100644
--- a/aos/starter/subprocess.h
+++ b/aos/starter/subprocess.h
@@ -112,7 +112,7 @@
private:
typedef aos::util::ScopedPipe::PipePair PipePair;
- static constexpr const char* const kSudo{"sudo"};
+ static constexpr const char *const kSudo{"sudo"};
void set_args(
const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>
diff --git a/aos/starter/subprocess_test.cc b/aos/starter/subprocess_test.cc
index 71f701a..d7f8be4 100644
--- a/aos/starter/subprocess_test.cc
+++ b/aos/starter/subprocess_test.cc
@@ -1,10 +1,11 @@
#include "aos/starter/subprocess.h"
+#include "gtest/gtest.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
#include "aos/util/file.h"
-#include "gtest/gtest.h"
namespace aos::starter::testing {
diff --git a/aos/stl_mutex/stl_mutex.h b/aos/stl_mutex/stl_mutex.h
index e3a930e..5aaa6b6 100644
--- a/aos/stl_mutex/stl_mutex.h
+++ b/aos/stl_mutex/stl_mutex.h
@@ -3,9 +3,10 @@
#include <mutex>
+#include "glog/logging.h"
+
#include "aos/ipc_lib/aos_sync.h"
#include "aos/macros.h"
-#include "glog/logging.h"
namespace aos {
diff --git a/aos/stl_mutex/stl_mutex_test.cc b/aos/stl_mutex/stl_mutex_test.cc
index 5abd934..5e88c56 100644
--- a/aos/stl_mutex/stl_mutex_test.cc
+++ b/aos/stl_mutex/stl_mutex_test.cc
@@ -1,8 +1,9 @@
#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/die.h"
#include "gtest/gtest.h"
+#include "aos/die.h"
+
namespace aos {
namespace testing {
diff --git a/aos/testing/flatbuffer_eq.h b/aos/testing/flatbuffer_eq.h
index 2f7b345..b560aaa 100644
--- a/aos/testing/flatbuffer_eq.h
+++ b/aos/testing/flatbuffer_eq.h
@@ -1,10 +1,11 @@
#ifndef AOS_TESTING_FLATBUFFER_EQ_H_
#define AOS_TESTING_FLATBUFFER_EQ_H_
+#include "gmock/gmock.h"
+
#include "aos/flatbuffer_merge.h"
#include "aos/flatbuffers.h"
#include "aos/json_to_flatbuffer.h"
-#include "gmock/gmock.h"
namespace aos {
namespace testing {
diff --git a/aos/testing/gtest_main.cc b/aos/testing/gtest_main.cc
index a6e944c..21f141f 100644
--- a/aos/testing/gtest_main.cc
+++ b/aos/testing/gtest_main.cc
@@ -2,11 +2,12 @@
#include <iostream>
-#include "aos/init.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/init.h"
+
DEFINE_bool(print_logs, false,
"Print the log messages as they are being generated.");
DEFINE_string(log_file, "",
diff --git a/aos/testing/test_logging.cc b/aos/testing/test_logging.cc
index d2466c9..ad2cc03 100644
--- a/aos/testing/test_logging.cc
+++ b/aos/testing/test_logging.cc
@@ -4,10 +4,11 @@
#include <vector>
#include "absl/base/call_once.h"
+#include "gtest/gtest.h"
+
#include "aos/logging/implementations.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/thread_local.h"
-#include "gtest/gtest.h"
using ::aos::logging::LogMessage;
diff --git a/aos/testing/test_logging_test.cc b/aos/testing/test_logging_test.cc
index e7f9806..f39c6cf 100644
--- a/aos/testing/test_logging_test.cc
+++ b/aos/testing/test_logging_test.cc
@@ -2,9 +2,10 @@
#include <thread>
-#include "aos/logging/logging.h"
#include "gtest/gtest.h"
+#include "aos/logging/logging.h"
+
namespace aos {
namespace testing {
diff --git a/aos/time/time.cc b/aos/time/time.cc
index 4f39c36..361616c 100644
--- a/aos/time/time.cc
+++ b/aos/time/time.cc
@@ -156,9 +156,8 @@
return std::nullopt;
}
- return realtime_clock::time_point(
- std::chrono::seconds(seconds) +
- std::chrono::nanoseconds(nanoseconds_data));
+ return realtime_clock::time_point(std::chrono::seconds(seconds) +
+ std::chrono::nanoseconds(nanoseconds_data));
}
#endif
diff --git a/aos/time/time_test.cc b/aos/time/time_test.cc
index 4fbf821..d5c82f2 100644
--- a/aos/time/time_test.cc
+++ b/aos/time/time_test.cc
@@ -2,11 +2,12 @@
#include <thread>
-#include "aos/macros.h"
-#include "aos/util/death_test_log_implementation.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/macros.h"
+#include "aos/util/death_test_log_implementation.h"
+
namespace aos {
namespace time {
namespace testing {
diff --git a/aos/util/config_validator_lib.h b/aos/util/config_validator_lib.h
index 61658e5..30a956a 100644
--- a/aos/util/config_validator_lib.h
+++ b/aos/util/config_validator_lib.h
@@ -1,9 +1,10 @@
#ifndef AOS_UTIL_CONFIG_VALIDATOR_H_
#define AOS_UTIL_CONFIG_VALIDATOR_H_
+#include "gtest/gtest.h"
+
#include "aos/configuration.h"
#include "aos/util/config_validator_config_generated.h"
-#include "gtest/gtest.h"
namespace aos::util {
void ConfigIsValid(const aos::Configuration *config,
diff --git a/aos/util/config_validator_lib_test.cc b/aos/util/config_validator_lib_test.cc
index c68695c..ee80ac4 100644
--- a/aos/util/config_validator_lib_test.cc
+++ b/aos/util/config_validator_lib_test.cc
@@ -1,8 +1,9 @@
#include "aos/util/config_validator_lib.h"
+#include "gtest/gtest-spi.h"
+
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
-#include "gtest/gtest-spi.h"
using aos::testing::ArtifactPath;
namespace aos::util::testing {
diff --git a/aos/util/error_counter_test.cc b/aos/util/error_counter_test.cc
index 567d71d..0a786bf 100644
--- a/aos/util/error_counter_test.cc
+++ b/aos/util/error_counter_test.cc
@@ -1,8 +1,9 @@
#include "aos/util/error_counter.h"
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop_generated.h"
#include "aos/flatbuffers.h"
-#include "gtest/gtest.h"
namespace aos::util::testing {
// Exercises the basic API for the ErrorCounter class, ensuring that everything
diff --git a/aos/util/file.h b/aos/util/file.h
index ddd5d47..3b2231a 100644
--- a/aos/util/file.h
+++ b/aos/util/file.h
@@ -12,10 +12,11 @@
#include "absl/strings/numbers.h"
#include "absl/types/span.h"
-#include "aos/scoped/scoped_fd.h"
#include "flatbuffers/util.h"
#include "glog/logging.h"
+#include "aos/scoped/scoped_fd.h"
+
namespace aos {
namespace util {
diff --git a/aos/util/file_test.cc b/aos/util/file_test.cc
index ba03ea5..712447e 100644
--- a/aos/util/file_test.cc
+++ b/aos/util/file_test.cc
@@ -3,9 +3,10 @@
#include <cstdlib>
#include <string>
+#include "gtest/gtest.h"
+
#include "aos/realtime.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
namespace aos {
namespace util {
diff --git a/aos/util/foxglove_websocket.cc b/aos/util/foxglove_websocket.cc
index 77dca20..44e24c8 100644
--- a/aos/util/foxglove_websocket.cc
+++ b/aos/util/foxglove_websocket.cc
@@ -1,7 +1,8 @@
+#include "gflags/gflags.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/util/foxglove_websocket_lib.h"
-#include "gflags/gflags.h"
DEFINE_string(config, "aos_config.json", "Path to the config.");
DEFINE_uint32(port, 8765, "Port to use for foxglove websocket server.");
diff --git a/aos/util/foxglove_websocket_lib.cc b/aos/util/foxglove_websocket_lib.cc
index 06c551e..ab99400 100644
--- a/aos/util/foxglove_websocket_lib.cc
+++ b/aos/util/foxglove_websocket_lib.cc
@@ -1,9 +1,10 @@
#include "aos/util/foxglove_websocket_lib.h"
#include "absl/strings/escaping.h"
+#include "gflags/gflags.h"
+
#include "aos/flatbuffer_merge.h"
#include "aos/util/mcap_logger.h"
-#include "gflags/gflags.h"
DEFINE_uint32(sorting_buffer_ms, 100,
"Amount of time to buffer messages to sort them before sending "
diff --git a/aos/util/foxglove_websocket_lib.h b/aos/util/foxglove_websocket_lib.h
index 7c326c2..2590e27 100644
--- a/aos/util/foxglove_websocket_lib.h
+++ b/aos/util/foxglove_websocket_lib.h
@@ -3,9 +3,10 @@
#include <map>
#include <set>
-#include "aos/events/event_loop.h"
#include "foxglove/websocket/server.hpp"
+#include "aos/events/event_loop.h"
+
namespace aos {
// This class implements a live AOS -> Foxglove Websocket Protocol connection,
// making use of the implementation at
diff --git a/aos/util/generate_test_log.cc b/aos/util/generate_test_log.cc
index 12cc260..dda7912 100644
--- a/aos/util/generate_test_log.cc
+++ b/aos/util/generate_test_log.cc
@@ -1,3 +1,5 @@
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/ping_lib.h"
@@ -5,7 +7,6 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
-#include "gflags/gflags.h"
DEFINE_string(output_folder, "",
"Name of folder to write the generated logfile to.");
diff --git a/aos/util/mcap_logger.cc b/aos/util/mcap_logger.cc
index 111d784..4fb727c 100644
--- a/aos/util/mcap_logger.cc
+++ b/aos/util/mcap_logger.cc
@@ -1,12 +1,13 @@
#include "aos/util/mcap_logger.h"
#include "absl/strings/str_replace.h"
-#include "aos/configuration_schema.h"
-#include "aos/flatbuffer_merge.h"
#include "lz4/lz4.h"
#include "lz4/lz4frame.h"
#include "single_include/nlohmann/json.hpp"
+#include "aos/configuration_schema.h"
+#include "aos/flatbuffer_merge.h"
+
DEFINE_uint64(mcap_chunk_size, 10'000'000,
"Size, in bytes, of individual MCAP chunks");
DEFINE_bool(fetch, false,
diff --git a/aos/util/mcap_logger.h b/aos/util/mcap_logger.h
index 50e9300..8032c763 100644
--- a/aos/util/mcap_logger.h
+++ b/aos/util/mcap_logger.h
@@ -1,11 +1,12 @@
#ifndef AOS_UTIL_MCAP_LOGGER_H_
#define AOS_UTIL_MCAP_LOGGER_H_
+#include "single_include/nlohmann/json.hpp"
+
#include "aos/configuration_generated.h"
#include "aos/events/event_loop.h"
#include "aos/fast_string_builder.h"
#include "aos/flatbuffer_utils.h"
-#include "single_include/nlohmann/json.hpp"
namespace aos {
diff --git a/aos/util/phased_loop_test.cc b/aos/util/phased_loop_test.cc
index de4483c..cfe0107 100644
--- a/aos/util/phased_loop_test.cc
+++ b/aos/util/phased_loop_test.cc
@@ -1,9 +1,10 @@
#include "aos/util/phased_loop.h"
-#include "aos/time/time.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/time/time.h"
+
namespace aos {
namespace time {
namespace testing {
diff --git a/aos/util/simulation_logger.cc b/aos/util/simulation_logger.cc
index 1f55ece..24691ef 100644
--- a/aos/util/simulation_logger.cc
+++ b/aos/util/simulation_logger.cc
@@ -1,4 +1,5 @@
#include "aos/util/simulation_logger.h"
+
#include "aos/events/logging/logfile_utils.h"
namespace aos::util {
@@ -30,7 +31,8 @@
std::vector<std::unique_ptr<LoggerState>> MakeLoggersForAllNodes(
aos::SimulatedEventLoopFactory *factory, std::string_view output_folder) {
std::vector<std::unique_ptr<LoggerState>> loggers;
- for (const aos::Node *node : configuration::GetNodes(factory->configuration())) {
+ for (const aos::Node *node :
+ configuration::GetNodes(factory->configuration())) {
loggers.emplace_back(
std::make_unique<LoggerState>(factory, node, output_folder));
}
diff --git a/aos/util/threaded_queue.h b/aos/util/threaded_queue.h
index 0b06632..943609e 100644
--- a/aos/util/threaded_queue.h
+++ b/aos/util/threaded_queue.h
@@ -38,9 +38,8 @@
// get called after setting done to true.
bool done = false;
};
- ThreadedQueue(
- std::function<PushResult(SharedState)> push_request_handler,
- SharedState initial_state);
+ ThreadedQueue(std::function<PushResult(SharedState)> push_request_handler,
+ SharedState initial_state);
~ThreadedQueue();
// Sets state. Triggers a new call to push_request_handler.
void SetState(const SharedState &state);
diff --git a/aos/util/threaded_queue_test.cc b/aos/util/threaded_queue_test.cc
index 4f27c57..c97792c 100644
--- a/aos/util/threaded_queue_test.cc
+++ b/aos/util/threaded_queue_test.cc
@@ -86,7 +86,6 @@
ASSERT_EQ(state, 0);
}
-
// Tests that we can exit early without any issues.
TEST(ThreadedQueueTest, ExitEarly) {
// There used to exist a deadlock in this case where StopPushing would
diff --git a/aos/util/top_test.cc b/aos/util/top_test.cc
index 3292927..7d413a4 100644
--- a/aos/util/top_test.cc
+++ b/aos/util/top_test.cc
@@ -6,11 +6,12 @@
#include <string>
#include <thread>
+#include "gtest/gtest.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
namespace aos::util::testing {
diff --git a/aos/util/trapezoid_profile.h b/aos/util/trapezoid_profile.h
index c5c957b..944c423 100644
--- a/aos/util/trapezoid_profile.h
+++ b/aos/util/trapezoid_profile.h
@@ -2,6 +2,7 @@
#define AOS_UTIL_TRAPEZOID_PROFILE_H_
#include "Eigen/Dense"
+
#include "aos/macros.h"
#include "aos/time/time.h"
diff --git a/aos/uuid.h b/aos/uuid.h
index aabca37..1b63ac3 100644
--- a/aos/uuid.h
+++ b/aos/uuid.h
@@ -6,9 +6,10 @@
#include <string>
#include "absl/types/span.h"
-#include "aos/thread_local.h"
#include "flatbuffers/flatbuffers.h"
+#include "aos/thread_local.h"
+
namespace aos {
// Class to generate and hold a UUID.
diff --git a/aos/vision/blob/threshold_test.cc b/aos/vision/blob/threshold_test.cc
index 3bbef1d..67f7116 100644
--- a/aos/vision/blob/threshold_test.cc
+++ b/aos/vision/blob/threshold_test.cc
@@ -3,11 +3,12 @@
#include <random>
#include <vector>
-#include "aos/vision/blob/range_image.h"
-#include "aos/vision/image/image_types.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "aos/vision/blob/range_image.h"
+#include "aos/vision/image/image_types.h"
+
namespace aos {
namespace vision {
namespace testing {
diff --git a/aos/vision/blob/transpose_test.cc b/aos/vision/blob/transpose_test.cc
index 374b5bf..6582b5d 100644
--- a/aos/vision/blob/transpose_test.cc
+++ b/aos/vision/blob/transpose_test.cc
@@ -3,9 +3,10 @@
#include <algorithm>
#include <string>
-#include "aos/vision/blob/test_utils.h"
#include "gtest/gtest.h"
+#include "aos/vision/blob/test_utils.h"
+
namespace aos {
namespace vision {
diff --git a/aos/vision/debug/blob_log-source.cc b/aos/vision/debug/blob_log-source.cc
index 006c09a..4dd5675 100644
--- a/aos/vision/debug/blob_log-source.cc
+++ b/aos/vision/debug/blob_log-source.cc
@@ -7,11 +7,12 @@
#include <functional>
#include <string>
+#include "glog/logging.h"
+
#include "aos/vision/blob/codec.h"
#include "aos/vision/blob/stream_view.h"
#include "aos/vision/debug/debug_framework.h"
#include "aos/vision/debug/overlay.h"
-#include "glog/logging.h"
namespace aos {
namespace vision {
diff --git a/aos/vision/events/socket_types.h b/aos/vision/events/socket_types.h
index 996edbb..237bdb1 100644
--- a/aos/vision/events/socket_types.h
+++ b/aos/vision/events/socket_types.h
@@ -7,9 +7,10 @@
#include <cstdint>
+#include "google/protobuf/message.h"
+
#include "aos/vision/events/tcp_server.h"
#include "aos/vision/image/image_types.h"
-#include "google/protobuf/message.h"
namespace aos {
namespace events {
diff --git a/aos/vision/image/jpeg_routines.cc b/aos/vision/image/jpeg_routines.cc
index d641627..b41729f 100644
--- a/aos/vision/image/jpeg_routines.cc
+++ b/aos/vision/image/jpeg_routines.cc
@@ -10,9 +10,10 @@
#include <cstdlib>
#include <cstring>
-#include "aos/logging/logging.h"
#include "third_party/libjpeg/jpeglib.h"
+#include "aos/logging/logging.h"
+
namespace aos {
namespace vision {
diff --git a/build_tests/gflags.cc b/build_tests/gflags.cc
index 20ce987..b2f0d08 100644
--- a/build_tests/gflags.cc
+++ b/build_tests/gflags.cc
@@ -2,6 +2,4 @@
DEFINE_int32(test_flag, 0, "Test command-line flag");
-int main() {
- return FLAGS_test_flag;
-}
+int main() { return FLAGS_test_flag; }
diff --git a/frc971/analysis/in_process_plotter_demo.cc b/frc971/analysis/in_process_plotter_demo.cc
index 492ddfa..99e0c1d 100644
--- a/frc971/analysis/in_process_plotter_demo.cc
+++ b/frc971/analysis/in_process_plotter_demo.cc
@@ -1,6 +1,5 @@
-#include "frc971/analysis/in_process_plotter.h"
-
#include "aos/init.h"
+#include "frc971/analysis/in_process_plotter.h"
// To run this example, do:
// bazel run -c opt //frc971/analysis:in_process_plotter_demo
diff --git a/frc971/analysis/local_foxglove.cc b/frc971/analysis/local_foxglove.cc
index 33e5a8b..ade56a5 100644
--- a/frc971/analysis/local_foxglove.cc
+++ b/frc971/analysis/local_foxglove.cc
@@ -1,6 +1,7 @@
+#include "glog/logging.h"
+
#include "aos/init.h"
#include "aos/seasocks/seasocks_logger.h"
-#include "glog/logging.h"
#include "internal/Embedded.h"
#include "seasocks/Server.h"
diff --git a/frc971/can_logger/asc_logger.h b/frc971/can_logger/asc_logger.h
index 213aa25..19a1cb9 100644
--- a/frc971/can_logger/asc_logger.h
+++ b/frc971/can_logger/asc_logger.h
@@ -4,11 +4,12 @@
#include <iomanip>
#include <iostream>
-#include "aos/events/event_loop.h"
-#include "frc971/can_logger/can_logging_generated.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+#include "aos/events/event_loop.h"
+#include "frc971/can_logger/can_logging_generated.h"
+
namespace frc971 {
namespace can_logger {
diff --git a/frc971/codelab/basic.h b/frc971/codelab/basic.h
index c0715a7..3aac567 100644
--- a/frc971/codelab/basic.h
+++ b/frc971/codelab/basic.h
@@ -1,12 +1,12 @@
#ifndef FRC971_CODELAB_BASIC_H_
#define FRC971_CODELAB_BASIC_H_
-#include "frc971/control_loops/control_loop.h"
#include "aos/time/time.h"
#include "frc971/codelab/basic_goal_generated.h"
#include "frc971/codelab/basic_output_generated.h"
#include "frc971/codelab/basic_position_generated.h"
#include "frc971/codelab/basic_status_generated.h"
+#include "frc971/control_loops/control_loop.h"
namespace frc971 {
namespace codelab {
diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
index 6f8e6cc..e9820bc 100644
--- a/frc971/codelab/basic_test.cc
+++ b/frc971/codelab/basic_test.cc
@@ -8,6 +8,8 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/events/shm_event_loop.h"
#include "frc971/codelab/basic_goal_generated.h"
#include "frc971/codelab/basic_output_generated.h"
@@ -15,7 +17,6 @@
#include "frc971/codelab/basic_status_generated.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
namespace frc971 {
namespace codelab {
@@ -123,8 +124,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(false);
@@ -137,8 +137,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(true);
@@ -154,8 +153,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(false);
@@ -171,8 +169,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(false);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(false);
@@ -188,8 +185,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(true);
@@ -204,8 +200,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(false);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(true);
@@ -234,8 +229,7 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
SetEnabled(false);
diff --git a/frc971/constants/constants_sender_example.cc b/frc971/constants/constants_sender_example.cc
index 6f9ba01..a0b23ce 100644
--- a/frc971/constants/constants_sender_example.cc
+++ b/frc971/constants/constants_sender_example.cc
@@ -1,12 +1,13 @@
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
-#include "constants_sender_lib.h"
+#include "frc971/constants/constants_sender_lib.h"
#include "frc971/constants/testdata/constants_data_generated.h"
#include "frc971/constants/testdata/constants_list_generated.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(config, "frc971/constants/testdata/aos_config.json",
"Path to the config.");
diff --git a/frc971/constants/constants_sender_lib.h b/frc971/constants/constants_sender_lib.h
index 48cacb5..9bd2c00 100644
--- a/frc971/constants/constants_sender_lib.h
+++ b/frc971/constants/constants_sender_lib.h
@@ -1,13 +1,14 @@
#ifndef FRC971_CONSTANTS_CONSTANTS_SENDER_H_
#define FRC971_CONSTANTS_CONSTANTS_SENDER_H_
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
namespace frc971::constants {
@@ -81,9 +82,7 @@
});
}
- const ConstantsData& constants() const {
- return *fetcher_.get();
- }
+ const ConstantsData &constants() const { return *fetcher_.get(); }
private:
aos::Fetcher<ConstantsData> fetcher_;
diff --git a/frc971/constants/constants_sender_test.cc b/frc971/constants/constants_sender_test.cc
index 512cb68..5e551c1 100644
--- a/frc971/constants/constants_sender_test.cc
+++ b/frc971/constants/constants_sender_test.cc
@@ -1,3 +1,6 @@
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/configuration.h"
#include "aos/events/event_loop.h"
#include "aos/events/simulated_event_loop.h"
@@ -7,8 +10,6 @@
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/constants/testdata/constants_data_generated.h"
#include "frc971/constants/testdata/constants_list_generated.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace frc971::constants {
namespace testing {
@@ -84,10 +85,10 @@
constants_sender_event_loop_->MakeSender<testdata::ConstantsData>(
"/constants");
constants_sender_event_loop_->OnRun([&sender]() {
- auto builder = sender.MakeBuilder();
- builder.CheckOk(builder.Send(
- builder.MakeBuilder<testdata::ConstantsData>().Finish()));
- });
+ auto builder = sender.MakeBuilder();
+ builder.CheckOk(
+ builder.Send(builder.MakeBuilder<testdata::ConstantsData>().Finish()));
+ });
EXPECT_DEATH(event_loop_factory_.RunFor(std::chrono::seconds(1)),
"changes to constants");
}
diff --git a/frc971/control_loops/aiming/aiming.cc b/frc971/control_loops/aiming/aiming.cc
index cea2476..4cf9255 100644
--- a/frc971/control_loops/aiming/aiming.cc
+++ b/frc971/control_loops/aiming/aiming.cc
@@ -1,6 +1,7 @@
#include "frc971/control_loops/aiming/aiming.h"
#include "glog/logging.h"
+
#include "frc971/zeroing/wrap.h"
namespace frc971::control_loops::aiming {
@@ -104,8 +105,9 @@
// in the derivative of atan because xdot and ydot are the derivatives of
// robot_pos and we are working with the atan of (target_pos - robot_pos).
const double atan_diff =
- (squared_norm < 1e-3) ? 0.0 : (rel_x * rel_ydot - rel_y * rel_xdot) /
- squared_norm;
+ (squared_norm < 1e-3)
+ ? 0.0
+ : (rel_x * rel_ydot - rel_y * rel_xdot) / squared_norm;
// heading = atan2(relative_y, relative_x) - robot_theta
// dheading / dt =
// (rel_x * rel_y' - rel_y * rel_x') / (rel_x^2 + rel_y^2) - dtheta / dt
diff --git a/frc971/control_loops/aiming/aiming.h b/frc971/control_loops/aiming/aiming.h
index 47fd06a..c743fe8 100644
--- a/frc971/control_loops/aiming/aiming.h
+++ b/frc971/control_loops/aiming/aiming.h
@@ -58,5 +58,5 @@
};
TurretGoal AimerGoal(const ShotConfig &config, const RobotState &state);
-}
+} // namespace frc971::control_loops::aiming
#endif // FRC971_CONTROL_LOOPS_AIMING_AIMING_H_
diff --git a/frc971/control_loops/aiming/aiming_test.cc b/frc971/control_loops/aiming/aiming_test.cc
index c1f7367..4ec7eb9 100644
--- a/frc971/control_loops/aiming/aiming_test.cc
+++ b/frc971/control_loops/aiming/aiming_test.cc
@@ -1,8 +1,9 @@
#include "frc971/control_loops/aiming/aiming.h"
-#include "frc971/control_loops/pose.h"
#include "gtest/gtest.h"
+
#include "frc971/constants.h"
+#include "frc971/control_loops/pose.h"
namespace frc971::control_loops::aiming::testing {
diff --git a/frc971/control_loops/c2d.h b/frc971/control_loops/c2d.h
index 50315e6..a11fed5 100644
--- a/frc971/control_loops/c2d.h
+++ b/frc971/control_loops/c2d.h
@@ -4,6 +4,7 @@
#include <chrono>
#include <Eigen/Dense>
+
#include "aos/time/time.h"
// We need to include MatrixFunctions for the matrix exponential.
#include "unsupported/Eigen/MatrixFunctions"
diff --git a/frc971/control_loops/c2d_test.cc b/frc971/control_loops/c2d_test.cc
index a0c4deb..14b4952 100644
--- a/frc971/control_loops/c2d_test.cc
+++ b/frc971/control_loops/c2d_test.cc
@@ -2,9 +2,10 @@
#include <functional>
-#include "frc971/control_loops/runge_kutta.h"
#include "gtest/gtest.h"
+#include "frc971/control_loops/runge_kutta.h"
+
namespace frc971 {
namespace controls {
namespace testing {
@@ -65,8 +66,9 @@
},
Eigen::Matrix<double, 2, 2>::Zero(), 0, 1.0);
EXPECT_LT((Q_d_integrated - Q_d).norm(), 1e-10)
- << "Expected these to be nearly equal:\nQ_d:\n" << Q_d
- << "\nQ_d_integrated:\n" << Q_d_integrated;
+ << "Expected these to be nearly equal:\nQ_d:\n"
+ << Q_d << "\nQ_d_integrated:\n"
+ << Q_d_integrated;
}
// Tests that the "fast" discretization produces nearly identical results.
diff --git a/frc971/control_loops/capped_test_plant.h b/frc971/control_loops/capped_test_plant.h
index f4286cd..8b4cefd 100644
--- a/frc971/control_loops/capped_test_plant.h
+++ b/frc971/control_loops/capped_test_plant.h
@@ -1,9 +1,10 @@
#ifndef FRC971_CONTROL_LOOPS_CAPPED_TEST_PLANT_H_
#define FRC971_CONTROL_LOOPS_CAPPED_TEST_PLANT_H_
-#include "frc971/control_loops/state_feedback_loop.h"
#include "gtest/gtest.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
namespace frc971 {
namespace control_loops {
@@ -27,6 +28,6 @@
double voltage_offset_ = 0.0;
};
-} // namespace frc971
} // namespace control_loops
+} // namespace frc971
#endif // FRC971_CONTROL_LOOPS_CAPPED_TEST_PLANT_H_
diff --git a/frc971/control_loops/coerce_goal.cc b/frc971/control_loops/coerce_goal.cc
index 6e1dcf4..ccad84a 100644
--- a/frc971/control_loops/coerce_goal.cc
+++ b/frc971/control_loops/coerce_goal.cc
@@ -1,6 +1,7 @@
#include "frc971/control_loops/coerce_goal.h"
#include "Eigen/Dense"
+
#include "frc971/control_loops/polytope.h"
namespace frc971 {
diff --git a/frc971/control_loops/coerce_goal.h b/frc971/control_loops/coerce_goal.h
index 1847682..6867540 100644
--- a/frc971/control_loops/coerce_goal.h
+++ b/frc971/control_loops/coerce_goal.h
@@ -2,6 +2,7 @@
#define FRC971_CONTROL_LOOPS_COERCE_GOAL_H_
#include "Eigen/Dense"
+
#include "frc971/control_loops/polytope.h"
namespace frc971 {
diff --git a/frc971/control_loops/coerce_goal_test.cc b/frc971/control_loops/coerce_goal_test.cc
index acdee9f..95520db 100644
--- a/frc971/control_loops/coerce_goal_test.cc
+++ b/frc971/control_loops/coerce_goal_test.cc
@@ -2,9 +2,10 @@
#include <unistd.h>
-#include "frc971/control_loops/polytope.h"
#include "gtest/gtest.h"
+#include "frc971/control_loops/polytope.h"
+
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/control_loop.cc b/frc971/control_loops/control_loop.cc
index 99c005a..3b475a9 100644
--- a/frc971/control_loops/control_loop.cc
+++ b/frc971/control_loops/control_loop.cc
@@ -1,7 +1,5 @@
#include "frc971/control_loops/control_loop.h"
namespace frc971 {
-namespace controls {
-
-} // namespace controls
+namespace controls {} // namespace controls
} // namespace frc971
diff --git a/frc971/control_loops/control_loop_test.cc b/frc971/control_loops/control_loop_test.cc
index e28f595..6704bf5 100644
--- a/frc971/control_loops/control_loop_test.cc
+++ b/frc971/control_loops/control_loop_test.cc
@@ -3,8 +3,5 @@
#include <chrono>
namespace frc971 {
-namespace testing {
-
-
-} // namespace testing
+namespace testing {} // namespace testing
} // namespace frc971
diff --git a/frc971/control_loops/control_loop_test.h b/frc971/control_loops/control_loop_test.h
index 90c93c7..c667568 100644
--- a/frc971/control_loops/control_loop_test.h
+++ b/frc971/control_loops/control_loop_test.h
@@ -4,6 +4,9 @@
#include <chrono>
#include <string_view>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/simulated_event_loop.h"
#include "aos/flatbuffers.h"
#include "aos/json_to_flatbuffer.h"
@@ -12,8 +15,6 @@
#include "aos/time/time.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/input/robot_state_generated.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
namespace frc971 {
namespace testing {
diff --git a/frc971/control_loops/double_jointed_arm/dynamics.h b/frc971/control_loops/double_jointed_arm/dynamics.h
index d4de1ed..c6b078b 100644
--- a/frc971/control_loops/double_jointed_arm/dynamics.h
+++ b/frc971/control_loops/double_jointed_arm/dynamics.h
@@ -2,9 +2,10 @@
#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
#include "Eigen/Dense"
-#include "frc971/control_loops/runge_kutta.h"
#include "gflags/gflags.h"
+#include "frc971/control_loops/runge_kutta.h"
+
DECLARE_bool(gravity);
namespace frc971 {
diff --git a/frc971/control_loops/double_jointed_arm/dynamics_test.cc b/frc971/control_loops/double_jointed_arm/dynamics_test.cc
index 6e12f75..5234af5 100644
--- a/frc971/control_loops/double_jointed_arm/dynamics_test.cc
+++ b/frc971/control_loops/double_jointed_arm/dynamics_test.cc
@@ -1,8 +1,9 @@
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
-#include "frc971/control_loops/double_jointed_arm/test_constants.h"
#include "gtest/gtest.h"
+#include "frc971/control_loops/double_jointed_arm/test_constants.h"
+
namespace frc971 {
namespace control_loops {
namespace arm {
diff --git a/frc971/control_loops/double_jointed_arm/ekf.cc b/frc971/control_loops/double_jointed_arm/ekf.cc
index a70e4a6..f8ec6d6 100644
--- a/frc971/control_loops/double_jointed_arm/ekf.cc
+++ b/frc971/control_loops/double_jointed_arm/ekf.cc
@@ -3,6 +3,7 @@
#include <iostream>
#include "Eigen/Dense"
+
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
diff --git a/frc971/control_loops/double_jointed_arm/ekf.h b/frc971/control_loops/double_jointed_arm/ekf.h
index d969e82..45e1641 100644
--- a/frc971/control_loops/double_jointed_arm/ekf.h
+++ b/frc971/control_loops/double_jointed_arm/ekf.h
@@ -2,6 +2,7 @@
#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
#include "Eigen/Dense"
+
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
namespace frc971 {
diff --git a/frc971/control_loops/double_jointed_arm/test_constants.h b/frc971/control_loops/double_jointed_arm/test_constants.h
index 4885d14..4ca2293 100644
--- a/frc971/control_loops/double_jointed_arm/test_constants.h
+++ b/frc971/control_loops/double_jointed_arm/test_constants.h
@@ -44,10 +44,9 @@
.num_distal_motors = 2.0,
};
-} // namespace testing
-} // namespace arm
-} // namespace control_loops
-} // namespace frc971
+} // namespace testing
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
-#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
-
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
diff --git a/frc971/control_loops/double_jointed_arm/trajectory.cc b/frc971/control_loops/double_jointed_arm/trajectory.cc
index a67216b..05a2d17 100644
--- a/frc971/control_loops/double_jointed_arm/trajectory.cc
+++ b/frc971/control_loops/double_jointed_arm/trajectory.cc
@@ -1,11 +1,12 @@
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "Eigen/Dense"
+#include "gflags/gflags.h"
+
#include "aos/logging/logging.h"
#include "frc971/control_loops/dlqr.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
-#include "gflags/gflags.h"
DEFINE_double(lqr_proximal_pos, 0.15, "Position LQR gain");
DEFINE_double(lqr_proximal_vel, 4.0, "Velocity LQR gain");
@@ -394,8 +395,7 @@
const ::Eigen::Matrix<double, 4, 4> final_A =
::frc971::control_loops::NumericalJacobianX<4, 2>(
[this](const auto &x_blocked, const auto &U, double dt) {
- return this->dynamics_->UnboundedDiscreteDynamics(
- x_blocked, U, dt);
+ return this->dynamics_->UnboundedDiscreteDynamics(x_blocked, U, dt);
},
x_blocked, U, 0.00505);
@@ -505,9 +505,9 @@
const ::Eigen::Matrix<double, 6, 1> R =
Trajectory::R(theta_, ::Eigen::Matrix<double, 2, 1>::Zero());
- U_ff_ = dynamics_->FF_U(
- X.block<4, 1>(0, 0), ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero());
+ U_ff_ = dynamics_->FF_U(X.block<4, 1>(0, 0),
+ ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero());
const ::Eigen::Matrix<double, 2, 6> K = K_at_state(X, U_ff_);
U_ = U_unsaturated_ = U_ff_ + K * (R - X);
diff --git a/frc971/control_loops/double_jointed_arm/trajectory.h b/frc971/control_loops/double_jointed_arm/trajectory.h
index a194a03..ca570d2 100644
--- a/frc971/control_loops/double_jointed_arm/trajectory.h
+++ b/frc971/control_loops/double_jointed_arm/trajectory.h
@@ -7,6 +7,7 @@
#include <vector>
#include "Eigen/Dense"
+
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
namespace frc971 {
@@ -279,7 +280,6 @@
const Path &path() const { return *path_; }
-
private:
friend class testing::TrajectoryTest_IndicesForDistanceTest_Test;
diff --git a/frc971/control_loops/double_jointed_arm/trajectory_test.cc b/frc971/control_loops/double_jointed_arm/trajectory_test.cc
index e700282..99575e9 100644
--- a/frc971/control_loops/double_jointed_arm/trajectory_test.cc
+++ b/frc971/control_loops/double_jointed_arm/trajectory_test.cc
@@ -1,10 +1,11 @@
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
-#include "frc971/control_loops/double_jointed_arm/test_constants.h"
+
+#include "gtest/gtest.h"
#include "frc971/control_loops/double_jointed_arm/demo_path.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "gtest/gtest.h"
+#include "frc971/control_loops/double_jointed_arm/test_constants.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/distance_spline.cc b/frc971/control_loops/drivetrain/distance_spline.cc
index c200b55..04a1add 100644
--- a/frc971/control_loops/drivetrain/distance_spline.cc
+++ b/frc971/control_loops/drivetrain/distance_spline.cc
@@ -1,8 +1,9 @@
#include "frc971/control_loops/drivetrain/distance_spline.h"
+#include "glog/logging.h"
+
#include "aos/logging/logging.h"
#include "frc971/control_loops/drivetrain/spline.h"
-#include "glog/logging.h"
namespace frc971 {
namespace control_loops {
@@ -56,8 +57,8 @@
}
}
- const double dalpha =
- static_cast<double>(splines().size()) / static_cast<double>(num_alpha - 1);
+ const double dalpha = static_cast<double>(splines().size()) /
+ static_cast<double>(num_alpha - 1);
double last_alpha = 0.0;
for (size_t i = 1; i < num_alpha; ++i) {
const double alpha = dalpha * i;
diff --git a/frc971/control_loops/drivetrain/distance_spline.h b/frc971/control_loops/drivetrain/distance_spline.h
index f445fa4..63156fe 100644
--- a/frc971/control_loops/drivetrain/distance_spline.h
+++ b/frc971/control_loops/drivetrain/distance_spline.h
@@ -5,6 +5,7 @@
#include "Eigen/Dense"
#include "absl/types/span.h"
+
#include "aos/containers/sized_array.h"
#include "frc971/control_loops/drivetrain/spline.h"
#include "frc971/control_loops/drivetrain/trajectory_generated.h"
diff --git a/frc971/control_loops/drivetrain/distance_spline_test.cc b/frc971/control_loops/drivetrain/distance_spline_test.cc
index 0dd58ba..60f83b9 100644
--- a/frc971/control_loops/drivetrain/distance_spline_test.cc
+++ b/frc971/control_loops/drivetrain/distance_spline_test.cc
@@ -2,10 +2,11 @@
#include <vector>
-#include "aos/testing/test_shm.h"
-#include "aos/flatbuffers.h"
#include "gflags/gflags.h"
#include "gtest/gtest.h"
+
+#include "aos/flatbuffers.h"
+#include "aos/testing/test_shm.h"
#if defined(SUPPORT_PLOT)
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
#endif
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 15d84ea..3b16273 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -7,6 +7,7 @@
#include <memory>
#include "Eigen/Dense"
+
#include "aos/logging/logging.h"
#include "frc971/control_loops/drivetrain/down_estimator.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
@@ -219,7 +220,8 @@
case GyroType::FLIPPED_SPARTAN_GYRO:
if (!yaw_gyro_zero_.has_value()) {
yaw_gyro_zeroer_.AddData(last_gyro_rate_);
- if (yaw_gyro_zeroer_.full() && yaw_gyro_zeroer_.GetRange() < kMaxYawGyroZeroingRange) {
+ if (yaw_gyro_zeroer_.full() &&
+ yaw_gyro_zeroer_.GetRange() < kMaxYawGyroZeroingRange) {
yaw_gyro_zero_ = yaw_gyro_zeroer_.GetAverage()(0);
VLOG(1) << "Zeroed to " << *yaw_gyro_zero_ << " Range "
<< yaw_gyro_zeroer_.GetRange();
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index f448760..c92b7d7 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -2,6 +2,7 @@
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
#include "Eigen/Dense"
+
#include "aos/util/log_interval.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loops_generated.h"
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index edda034..3e17822 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -3,6 +3,10 @@
#include <chrono>
#include <memory>
+#include "gflags/gflags.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/logging/log_writer.h"
#include "aos/time/time.h"
@@ -19,9 +23,6 @@
#include "frc971/control_loops/drivetrain/trajectory_generator.h"
#include "frc971/control_loops/polytope.h"
#include "frc971/queues/gyro_generated.h"
-#include "gflags/gflags.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
DEFINE_string(output_file, "",
"If set, logs all channels to the provided logfile.");
@@ -183,8 +184,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
VerifyNearGoal();
@@ -200,8 +200,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Sanity check that the drivetrain is indeed commanding voltage while the IMU
@@ -237,8 +236,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
drivetrain_plant_.set_left_voltage_offset(1.0);
drivetrain_plant_.set_right_voltage_offset(1.0);
@@ -254,8 +252,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
for (int i = 0; i < 500; ++i) {
if (i > 20 && i < 200) {
@@ -285,8 +282,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(4.0);
goal_builder.add_right_goal(4.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
for (int i = 0; i < 500; ++i) {
@@ -310,8 +306,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(4.0);
goal_builder.add_right_goal(3.9);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
for (int i = 0; i < 500; ++i) {
RunFor(dt());
@@ -372,8 +367,7 @@
goal_builder.add_right_goal(4.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
const auto start_time = monotonic_now();
@@ -415,8 +409,7 @@
goal_builder.add_right_goal(1.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
const auto start_time = monotonic_now();
@@ -458,8 +451,7 @@
goal_builder.add_right_goal(4.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
const auto start_time = monotonic_now();
@@ -482,8 +474,7 @@
goal_builder.add_throttle(1.0);
goal_builder.add_highgear(true);
goal_builder.add_quickturn(false);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -496,8 +487,7 @@
goal_builder.add_throttle(-0.3);
goal_builder.add_highgear(true);
goal_builder.add_quickturn(false);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -510,8 +500,7 @@
goal_builder.add_throttle(0.0);
goal_builder.add_highgear(true);
goal_builder.add_quickturn(false);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -538,8 +527,7 @@
goal_builder.add_right_goal(4.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
const auto end_time = monotonic_now() + chrono::seconds(4);
@@ -590,8 +578,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -636,8 +623,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Check that we are right on the spline at the start (otherwise the feedback
@@ -695,8 +681,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -736,8 +721,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -749,8 +733,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
for (int i = 0; i < 100; ++i) {
RunFor(dt());
@@ -800,8 +783,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -813,8 +795,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -824,8 +805,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -889,8 +869,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(5000));
@@ -937,8 +916,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(5000));
@@ -988,8 +966,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(5000));
@@ -1049,8 +1026,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(4000));
@@ -1092,8 +1068,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1134,8 +1109,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -1175,8 +1149,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -1194,8 +1167,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -1230,8 +1202,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1305,8 +1276,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1374,8 +1344,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1385,8 +1354,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(4000));
@@ -1465,8 +1433,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1488,8 +1455,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(kRunSpline);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
for (size_t spline_index = 0;
spline_index < DrivetrainLoop::kNumSplineFetchers + kExtraSplines;
@@ -1560,8 +1526,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::LINE_FOLLOWER);
goal_builder.add_throttle(0.5);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1598,8 +1563,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::LINE_FOLLOWER);
goal_builder.add_throttle(0.5);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1645,8 +1609,7 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(4.0);
goal_builder.add_right_goal(4.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
index a973552..ab7e280 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
@@ -2,12 +2,12 @@
#include <chrono>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
#include "gtest/gtest.h"
#include "frc971/control_loops/drivetrain/trajectory.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
#if defined(SUPPORT_PLOT)
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
#endif
@@ -182,8 +182,7 @@
status_builder.add_x(state_.x());
status_builder.add_y(state_.y());
status_builder.add_theta(state_(2));
- CHECK_EQ(builder.Send(status_builder.Finish()),
- aos::RawSender::Error::kOk);
+ CHECK_EQ(builder.Send(status_builder.Finish()), aos::RawSender::Error::kOk);
}
void DrivetrainSimulation::SendPositionMessage() {
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.h b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
index 356eadf..4368b00 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.h
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
@@ -12,8 +12,8 @@
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/wpilib/imu_batch_generated.h"
#include "frc971/queues/gyro_generated.h"
+#include "frc971/wpilib/imu_batch_generated.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/drivetrain_uc.q.h b/frc971/control_loops/drivetrain/drivetrain_uc.q.h
index f72b4be..95a2000 100644
--- a/frc971/control_loops/drivetrain/drivetrain_uc.q.h
+++ b/frc971/control_loops/drivetrain/drivetrain_uc.q.h
@@ -1,6 +1,7 @@
#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_
#include <array>
+
#include "aos/macros.h"
namespace frc971 {
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index ce4e1b9..743e494 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -4,6 +4,7 @@
#include <chrono>
#include "Eigen/Dense"
+
#include "aos/commonmath.h"
#include "aos/containers/priority_queue.h"
#include "aos/util/math.h"
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf_test.cc b/frc971/control_loops/drivetrain/hybrid_ekf_test.cc
index 5efb297..01028c0 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf_test.cc
+++ b/frc971/control_loops/drivetrain/hybrid_ekf_test.cc
@@ -2,11 +2,12 @@
#include <random>
+#include "gtest/gtest.h"
+
#include "aos/testing/random_seed.h"
#include "aos/testing/test_shm.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/drivetrain/trajectory.h"
-#include "gtest/gtest.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.cc b/frc971/control_loops/drivetrain/improved_down_estimator.cc
index 449c70d..71347e2 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.cc
@@ -2,6 +2,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
+
#include "frc971/control_loops/quaternion_utils.h"
namespace frc971 {
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.h b/frc971/control_loops/drivetrain/improved_down_estimator.h
index b4b0b76..4e3227e 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.h
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.h
@@ -3,6 +3,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
+#include "glog/logging.h"
#include "aos/events/event_loop.h"
#include "aos/time/time.h"
@@ -10,7 +11,6 @@
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/control_loops/runge_kutta.h"
-#include "glog/logging.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
index af2f3b2..376c131 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
@@ -1,14 +1,15 @@
#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
-#include <Eigen/Geometry>
#include <random>
-#include "frc971/control_loops/quaternion_utils.h"
-#include "aos/testing/random_seed.h"
-#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
-#include "frc971/control_loops/runge_kutta.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include <Eigen/Geometry>
+
+#include "aos/testing/random_seed.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/control_loops/runge_kutta.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.h b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
index c5b03f0..bb2f7ae 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.h
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
@@ -1,6 +1,7 @@
#ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_LINE_FOLLOW_DRIVETRAIN_H_
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_LINE_FOLLOW_DRIVETRAIN_H_
#include "Eigen/Dense"
+
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
index 5fe6ec3..d2ebb4e 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
@@ -2,13 +2,14 @@
#include <chrono>
-#include "aos/testing/test_shm.h"
-#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
-#include "frc971/control_loops/drivetrain/trajectory.h"
#include "gflags/gflags.h"
#include "gtest/gtest.h"
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
+#include "aos/testing/test_shm.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/drivetrain/trajectory.h"
+
DECLARE_bool(plot);
namespace chrono = ::std::chrono;
diff --git a/frc971/control_loops/drivetrain/localization/puppet_localizer.cc b/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
index 77b9fbe..8a60ea5 100644
--- a/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.cc
@@ -44,9 +44,9 @@
}
void PuppetLocalizer::Update(const Eigen::Matrix<double, 2, 1> &U,
- aos::monotonic_clock::time_point now,
- double left_encoder, double right_encoder,
- double gyro_rate, const Eigen::Vector3d &accel) {
+ aos::monotonic_clock::time_point now,
+ double left_encoder, double right_encoder,
+ double gyro_rate, const Eigen::Vector3d &accel) {
ekf_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate,
U.cast<float>(), accel.cast<float>(), now);
if (localizer_output_fetcher_.Fetch()) {
diff --git a/frc971/control_loops/drivetrain/localization/puppet_localizer.h b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
index 24e2f88..9b348a7 100644
--- a/frc971/control_loops/drivetrain/localization/puppet_localizer.h
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer.h
@@ -6,8 +6,8 @@
#include "aos/events/event_loop.h"
#include "aos/network/message_bridge_server_generated.h"
#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
-#include "frc971/control_loops/drivetrain/localizer.h"
#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/control_loops/drivetrain/localizer.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc b/frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc
index e45f880..d5f9a31 100644
--- a/frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc
+++ b/frc971/control_loops/drivetrain/localization/puppet_localizer_test.cc
@@ -2,16 +2,17 @@
#include <queue>
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "aos/network/message_bridge_server_generated.h"
#include "aos/network/team_number.h"
#include "aos/network/testing_time_converter.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
-#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/control_loops/team_number_test_environment.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
DEFINE_string(output_folder, "",
@@ -39,7 +40,6 @@
using frc971::control_loops::drivetrain::DrivetrainLoop;
using frc971::control_loops::drivetrain::testing::DrivetrainSimulation;
-
// TODO(james): Make it so this actually tests the full system of the localizer.
class LocalizedDrivetrainTest : public frc971::testing::ControlLoopTest {
protected:
diff --git a/frc971/control_loops/drivetrain/localization/utils.cc b/frc971/control_loops/drivetrain/localization/utils.cc
index d9e239b..10ee445 100644
--- a/frc971/control_loops/drivetrain/localization/utils.cc
+++ b/frc971/control_loops/drivetrain/localization/utils.cc
@@ -35,7 +35,6 @@
return (joystick_state_fetcher_.get() != nullptr)
? joystick_state_fetcher_->alliance()
: aos::Alliance::kInvalid;
-
}
std::optional<aos::monotonic_clock::duration> LocalizationUtils::ClockOffset(
diff --git a/frc971/control_loops/drivetrain/polydrivetrain.h b/frc971/control_loops/drivetrain/polydrivetrain.h
index aea030e..ecdf340 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.h
+++ b/frc971/control_loops/drivetrain/polydrivetrain.h
@@ -2,9 +2,9 @@
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_POLYDRIVETRAIN_H_
#include "aos/commonmath.h"
-#include "frc971/control_loops/polytope.h"
#include "frc971/control_loops/coerce_goal.h"
#include "frc971/control_loops/drivetrain/gear.h"
+#include "frc971/control_loops/polytope.h"
#ifdef __linux__
#include "aos/logging/logging.h"
#include "frc971/control_loops/control_loops_generated.h"
diff --git a/frc971/control_loops/drivetrain/spline_test.cc b/frc971/control_loops/drivetrain/spline_test.cc
index 015ec6a..6498fb6 100644
--- a/frc971/control_loops/drivetrain/spline_test.cc
+++ b/frc971/control_loops/drivetrain/spline_test.cc
@@ -4,6 +4,7 @@
#include "gflags/gflags.h"
#include "gtest/gtest.h"
+
#include "frc971/analysis/in_process_plotter.h"
DEFINE_bool(plot, false, "If true, plot");
@@ -15,9 +16,8 @@
std::string TestName() {
const ::testing::TestInfo *info =
- ::testing::UnitTest::GetInstance()->current_test_info();
- return std::string(info->test_case_name()) + "." +
- std::string(info->name());
+ ::testing::UnitTest::GetInstance()->current_test_info();
+ return std::string(info->test_case_name()) + "." + std::string(info->name());
}
// Test fixture with a spline from 0, 0 to 1, 1
@@ -34,6 +34,7 @@
plotter_->Spin();
}
}
+
protected:
SplineTest()
: control_points_((::Eigen::Matrix<double, 2, 4>() << 0.0, 0.5, 0.5, 1.0,
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index ddcf63d..977529f 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -1,6 +1,7 @@
#include "frc971/control_loops/drivetrain/splinedrivetrain.h"
#include "Eigen/Dense"
+
#include "aos/json_to_flatbuffer.h"
#include "aos/realtime.h"
#include "aos/util/math.h"
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 71e5ffe..c528733 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -5,6 +5,7 @@
#include <thread>
#include "Eigen/Dense"
+
#include "aos/condition.h"
#include "aos/mutex/mutex.h"
#include "frc971/control_loops/control_loops_generated.h"
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index 594175c..e1c4dac 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -1,12 +1,12 @@
#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
#include "aos/commonmath.h"
-#include "frc971/control_loops/polytope.h"
#include "frc971/control_loops/coerce_goal.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/control_loops/polytope.h"
#include "frc971/control_loops/state_feedback_loop.h"
namespace frc971 {
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index be42abf..77f1e25 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -2,10 +2,9 @@
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_SSDRIVETRAIN_H_
#include "aos/commonmath.h"
-#include "frc971/control_loops/control_loop.h"
-#include "frc971/control_loops/polytope.h"
#include "aos/util/trapezoid_profile.h"
#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
@@ -13,6 +12,7 @@
#include "frc971/control_loops/drivetrain/drivetrain_states.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/polytope.h"
#include "frc971/control_loops/state_feedback_loop.h"
namespace frc971 {
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 33a8577..76a6784 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -2,8 +2,9 @@
#include <chrono>
-#include "aos/util/math.h"
#include "Eigen/Dense"
+
+#include "aos/util/math.h"
#include "frc971/control_loops/c2d.h"
#include "frc971/control_loops/dlqr.h"
#include "frc971/control_loops/drivetrain/distance_spline.h"
diff --git a/frc971/control_loops/drivetrain/trajectory.h b/frc971/control_loops/drivetrain/trajectory.h
index ab1c55f..e30ca98 100644
--- a/frc971/control_loops/drivetrain/trajectory.h
+++ b/frc971/control_loops/drivetrain/trajectory.h
@@ -4,6 +4,7 @@
#include <chrono>
#include "Eigen/Dense"
+
#include "aos/flatbuffers.h"
#include "frc971/control_loops/drivetrain/distance_spline.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
diff --git a/frc971/control_loops/drivetrain/trajectory_generator.h b/frc971/control_loops/drivetrain/trajectory_generator.h
index 0bf5e92..234d386 100644
--- a/frc971/control_loops/drivetrain/trajectory_generator.h
+++ b/frc971/control_loops/drivetrain/trajectory_generator.h
@@ -15,6 +15,7 @@
TrajectoryGenerator(aos::EventLoop *event_loop,
const DrivetrainConfig<double> &config);
void HandleSplineGoal(const SplineGoal &goal);
+
private:
aos::EventLoop *const event_loop_;
const DrivetrainConfig<double> dt_config_;
diff --git a/frc971/control_loops/drivetrain/trajectory_plot.cc b/frc971/control_loops/drivetrain/trajectory_plot.cc
index 6fe1fbf..207df18 100644
--- a/frc971/control_loops/drivetrain/trajectory_plot.cc
+++ b/frc971/control_loops/drivetrain/trajectory_plot.cc
@@ -1,13 +1,13 @@
-#include "frc971/control_loops/drivetrain/trajectory.h"
-
#include <chrono>
+#include "gflags/gflags.h"
+#include "third_party/matplotlib-cpp/matplotlibcpp.h"
+
#include "aos/logging/implementations.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
#include "frc971/control_loops/dlqr.h"
-#include "gflags/gflags.h"
-#include "third_party/matplotlib-cpp/matplotlibcpp.h"
+#include "frc971/control_loops/drivetrain/trajectory.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
// Notes:
diff --git a/frc971/control_loops/drivetrain/trajectory_test.cc b/frc971/control_loops/drivetrain/trajectory_test.cc
index 806e020..82ae312 100644
--- a/frc971/control_loops/drivetrain/trajectory_test.cc
+++ b/frc971/control_loops/drivetrain/trajectory_test.cc
@@ -3,10 +3,11 @@
#include <chrono>
#include <vector>
-#include "aos/testing/test_shm.h"
-#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "gflags/gflags.h"
#include "gtest/gtest.h"
+
+#include "aos/testing/test_shm.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#if defined(SUPPORT_PLOT)
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
#endif
@@ -446,8 +447,9 @@
absolute_state = RungeKuttaU(
[this](const Eigen::Matrix<double, 5, 1> &X,
const Eigen::Matrix<double, 2, 1> &U) {
- return ContinuousDynamics(finished_trajectory_->velocity_drivetrain().plant(),
- dt_config_.Tlr_to_la(), X, U);
+ return ContinuousDynamics(
+ finished_trajectory_->velocity_drivetrain().plant(),
+ dt_config_.Tlr_to_la(), X, U);
},
absolute_state, U, aos::time::DurationInSeconds(dt_config_.dt));
const Eigen::Matrix<double, 5, 1> goal_absolute_state =
diff --git a/frc971/control_loops/fixed_quadrature.h b/frc971/control_loops/fixed_quadrature.h
index 22d4984..53bb0dc 100644
--- a/frc971/control_loops/fixed_quadrature.h
+++ b/frc971/control_loops/fixed_quadrature.h
@@ -1,28 +1,29 @@
#ifndef FRC971_CONTROL_LOOPS_FIXED_QUADRATURE_H_
#define FRC971_CONTROL_LOOPS_FIXED_QUADRATURE_H_
-#include <Eigen/Dense>
#include <array>
+#include <Eigen/Dense>
+
namespace frc971 {
namespace control_loops {
-// Implements Gaussian Quadrature integration (5th order). fn is the function to
-// integrate. It must take 1 argument of type T. The integration is between a
-// and b.
+// Implements Gaussian Quadrature integration (5th order). fn is the function
+// to integrate. It must take 1 argument of type T. The integration is between
+// a and b.
template <typename T, typename F>
double GaussianQuadrature5(const F &fn, T a, T b) {
// Pulled from Python.
// numpy.set_printoptions(precision=20)
// scipy.special.p_roots(5)
- const ::std::array<double, 5> x{{
- -9.06179845938663630633e-01, -5.38469310105682885670e-01,
- 3.24607628916367383789e-17, 5.38469310105683218737e-01,
- 9.06179845938663408589e-01}};
+ const ::std::array<double, 5> x{
+ {-9.06179845938663630633e-01, -5.38469310105682885670e-01,
+ 3.24607628916367383789e-17, 5.38469310105683218737e-01,
+ 9.06179845938663408589e-01}};
- const ::std::array<double, 5> w{{
- 0.23692688505618844652, 0.4786286704993669705, 0.56888888888888811124,
- 0.47862867049936674846, 0.23692688505618875183}};
+ const ::std::array<double, 5> w{
+ {0.23692688505618844652, 0.4786286704993669705, 0.56888888888888811124,
+ 0.47862867049936674846, 0.23692688505618875183}};
double answer = 0.0;
for (int i = 0; i < 5; ++i) {
@@ -38,14 +39,14 @@
// Pulled from Python.
// numpy.set_printoptions(precision=20)
// scipy.special.p_roots(5)
- const ::std::array<double, 5> x{{
- -9.06179845938663630633e-01, -5.38469310105682885670e-01,
- 3.24607628916367383789e-17, 5.38469310105683218737e-01,
- 9.06179845938663408589e-01}};
+ const ::std::array<double, 5> x{
+ {-9.06179845938663630633e-01, -5.38469310105682885670e-01,
+ 3.24607628916367383789e-17, 5.38469310105683218737e-01,
+ 9.06179845938663408589e-01}};
- const ::std::array<double, 5> w{{
- 0.23692688505618844652, 0.4786286704993669705, 0.56888888888888811124,
- 0.47862867049936674846, 0.23692688505618875183}};
+ const ::std::array<double, 5> w{
+ {0.23692688505618844652, 0.4786286704993669705, 0.56888888888888811124,
+ 0.47862867049936674846, 0.23692688505618875183}};
Eigen::Matrix<double, N, 1> answer;
answer.setZero();
diff --git a/frc971/control_loops/gaussian_noise.cc b/frc971/control_loops/gaussian_noise.cc
index c1c8701..ddfa0f3 100644
--- a/frc971/control_loops/gaussian_noise.cc
+++ b/frc971/control_loops/gaussian_noise.cc
@@ -4,9 +4,7 @@
namespace control_loops {
GaussianNoise::GaussianNoise(unsigned int seed, double stddev)
- : stddev_(stddev),
- generator_(seed),
- distribution_(0.0, 1.0) {
+ : stddev_(stddev), generator_(seed), distribution_(0.0, 1.0) {
// Everything is initialized now.
}
diff --git a/frc971/control_loops/gaussian_noise.h b/frc971/control_loops/gaussian_noise.h
index 8adf840..dce60fb 100644
--- a/frc971/control_loops/gaussian_noise.h
+++ b/frc971/control_loops/gaussian_noise.h
@@ -19,9 +19,7 @@
double AddNoiseToSample(double sample);
// Sets the standard deviation of the gaussian noise.
- inline void set_standard_deviation(double stddev) {
- stddev_ = stddev;
- }
+ inline void set_standard_deviation(double stddev) { stddev_ = stddev; }
private:
double stddev_;
diff --git a/frc971/control_loops/hybrid_state_feedback_loop.h b/frc971/control_loops/hybrid_state_feedback_loop.h
index 46e6a05..9d463d8 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop.h
+++ b/frc971/control_loops/hybrid_state_feedback_loop.h
@@ -8,6 +8,7 @@
#include <vector>
#include "Eigen/Dense"
+
#include "aos/logging/logging.h"
#include "aos/macros.h"
#include "frc971/control_loops/c2d.h"
@@ -238,10 +239,12 @@
const Eigen::Matrix<Scalar, number_of_outputs, number_of_outputs>
&R_continuous,
const Eigen::Matrix<Scalar, number_of_states, number_of_states>
- &P_steady_state, size_t delayed_u)
+ &P_steady_state,
+ size_t delayed_u)
: Q_continuous(Q_continuous),
R_continuous(R_continuous),
- P_steady_state(P_steady_state), delayed_u(delayed_u) {
+ P_steady_state(P_steady_state),
+ delayed_u(delayed_u) {
CHECK(!delayed_u) << ": Delayed hybrid filters aren't supported yet.";
}
};
diff --git a/frc971/control_loops/hybrid_state_feedback_loop_test.cc b/frc971/control_loops/hybrid_state_feedback_loop_test.cc
index 147a84f..76e2838 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop_test.cc
+++ b/frc971/control_loops/hybrid_state_feedback_loop_test.cc
@@ -1,8 +1,9 @@
#include "frc971/control_loops/hybrid_state_feedback_loop.h"
-#include "frc971/control_loops/state_feedback_loop.h"
#include "gtest/gtest.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+
namespace frc971 {
namespace control_loops {
namespace testing {
diff --git a/frc971/control_loops/jacobian.h b/frc971/control_loops/jacobian.h
index 8b0d4a5..0940c6c 100644
--- a/frc971/control_loops/jacobian.h
+++ b/frc971/control_loops/jacobian.h
@@ -28,7 +28,7 @@
template <int num_states, int num_u, typename F, typename... Args>
::Eigen::Matrix<double, num_states, num_states> NumericalJacobianX(
const F &fn, ::Eigen::Matrix<double, num_states, 1> X,
- ::Eigen::Matrix<double, num_u, 1> U, Args &&... args) {
+ ::Eigen::Matrix<double, num_u, 1> U, Args &&...args) {
return NumericalJacobian<num_states, num_states>(
[&](::Eigen::Matrix<double, num_states, 1> X) {
return fn(X, U, args...);
@@ -40,7 +40,7 @@
template <int num_states, int num_u, typename F, typename... Args>
::Eigen::Matrix<double, num_states, num_u> NumericalJacobianU(
const F &fn, ::Eigen::Matrix<double, num_states, 1> X,
- ::Eigen::Matrix<double, num_u, 1> U, Args &&... args) {
+ ::Eigen::Matrix<double, num_u, 1> U, Args &&...args) {
return NumericalJacobian<num_states, num_u>(
[&](::Eigen::Matrix<double, num_u, 1> U) { return fn(X, U, args...); },
U);
diff --git a/frc971/control_loops/jacobian_test.cc b/frc971/control_loops/jacobian_test.cc
index 6046c37..57c9d7f 100644
--- a/frc971/control_loops/jacobian_test.cc
+++ b/frc971/control_loops/jacobian_test.cc
@@ -7,8 +7,8 @@
namespace testing {
::Eigen::Matrix<double, 4, 4> A = (::Eigen::Matrix<double, 4, 4>() << 1, 2, 4,
- 1, 5, 2, 3, 4, 5, 1, 3, 2, 1, 1, 3,
- 7).finished();
+ 1, 5, 2, 3, 4, 5, 1, 3, 2, 1, 1, 3, 7)
+ .finished();
::Eigen::Matrix<double, 4, 2> B =
(::Eigen::Matrix<double, 4, 2>() << 1, 1, 2, 1, 3, 2, 3, 7).finished();
diff --git a/frc971/control_loops/polytope.h b/frc971/control_loops/polytope.h
index 1d707d4..794219b 100644
--- a/frc971/control_loops/polytope.h
+++ b/frc971/control_loops/polytope.h
@@ -4,8 +4,12 @@
#include "Eigen/Dense"
#ifdef __linux__
+// For reasons I haven't looked into, these headers fail to compile when
+// included after the glog header. Prevent clang-format from ordering them.
+// clang-format off
#include "third_party/cddlib/lib-src/setoper.h"
#include "third_party/cddlib/lib-src/cdd.h"
+// clang-format on
#include "glog/logging.h"
#endif // __linux__
@@ -64,11 +68,14 @@
class HVPolytope : public Polytope<number_of_dimensions, Scalar> {
public:
// Constructs a polytope given the H and k matrices.
- HVPolytope(Eigen::Ref<const Eigen::Matrix<Scalar, num_constraints,
- number_of_dimensions>> H,
- Eigen::Ref<const Eigen::Matrix<Scalar, num_constraints, 1>> k,
- Eigen::Ref<const Eigen::Matrix<Scalar, number_of_dimensions,
- num_vertices>> vertices)
+ HVPolytope(
+ Eigen::Ref<
+ const Eigen::Matrix<Scalar, num_constraints, number_of_dimensions>>
+ H,
+ Eigen::Ref<const Eigen::Matrix<Scalar, num_constraints, 1>> k,
+ Eigen::Ref<
+ const Eigen::Matrix<Scalar, number_of_dimensions, num_vertices>>
+ vertices)
: H_(H), k_(k), vertices_(vertices) {}
Eigen::Ref<const Eigen::Matrix<Scalar, num_constraints, number_of_dimensions>>
@@ -81,8 +88,7 @@
return H_;
}
- Eigen::Ref<const Eigen::Matrix<Scalar, num_constraints, 1>> static_k()
- const {
+ Eigen::Ref<const Eigen::Matrix<Scalar, num_constraints, 1>> static_k() const {
return k_;
}
Eigen::Ref<const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>> k()
@@ -95,8 +101,8 @@
return vertices_;
}
- Eigen::Matrix<Scalar, number_of_dimensions, num_vertices>
- StaticVertices() const {
+ Eigen::Matrix<Scalar, number_of_dimensions, num_vertices> StaticVertices()
+ const {
return vertices_;
}
@@ -106,18 +112,16 @@
const Eigen::Matrix<Scalar, number_of_dimensions, num_vertices> vertices_;
};
-
-
#ifdef __linux__
template <int number_of_dimensions>
class HPolytope : public Polytope<number_of_dimensions> {
public:
// Constructs a polytope given the H and k matrices.
- HPolytope(
- Eigen::Ref<
- const Eigen::Matrix<double, Eigen::Dynamic, number_of_dimensions>> H,
- Eigen::Ref<const Eigen::Matrix<double, Eigen::Dynamic, 1>> k)
+ HPolytope(Eigen::Ref<const Eigen::Matrix<double, Eigen::Dynamic,
+ number_of_dimensions>>
+ H,
+ Eigen::Ref<const Eigen::Matrix<double, Eigen::Dynamic, 1>> k)
: H_(H), k_(k), vertices_(CalculateVertices(H, k)) {}
// This is an initialization function shared across all instantiations of this
diff --git a/frc971/control_loops/polytope_test.cc b/frc971/control_loops/polytope_test.cc
index 849438d..0a01248 100644
--- a/frc971/control_loops/polytope_test.cc
+++ b/frc971/control_loops/polytope_test.cc
@@ -3,8 +3,8 @@
#include <vector>
#include "Eigen/Dense"
-#include "gtest/gtest.h"
#include "gmock/gmock.h"
+#include "gtest/gtest.h"
#include "aos/testing/test_logging.h"
@@ -77,25 +77,29 @@
// Tests that the vertices for various polytopes calculated from H and k are
// correct.
TEST_F(HPolytopeTest, CalculatedVertices) {
- EXPECT_THAT(MatrixToVectors(Polytope1().Vertices()),
- ::testing::UnorderedElementsAreArray(
- MatrixToVectors((Eigen::Matrix<double, 2, 4>() << -12, -12,
- 12, 12, -12, 12, 12, -12).finished())));
- EXPECT_THAT(MatrixToVectors(Polytope2().Vertices()),
- ::testing::UnorderedElementsAreArray(
- MatrixToVectors((Eigen::Matrix<double, 2, 4>() << 24, 0, -24,
- 0, -12, 12, 12, -12).finished())));
+ EXPECT_THAT(
+ MatrixToVectors(Polytope1().Vertices()),
+ ::testing::UnorderedElementsAreArray(MatrixToVectors(
+ (Eigen::Matrix<double, 2, 4>() << -12, -12, 12, 12, -12, 12, 12, -12)
+ .finished())));
+ EXPECT_THAT(
+ MatrixToVectors(Polytope2().Vertices()),
+ ::testing::UnorderedElementsAreArray(MatrixToVectors(
+ (Eigen::Matrix<double, 2, 4>() << 24, 0, -24, 0, -12, 12, 12, -12)
+ .finished())));
EXPECT_THAT(MatrixToVectors(Polytope3().Vertices()),
::testing::UnorderedElementsAreArray(MatrixToVectors(
(Eigen::Matrix<double, 1, 2>() << 5, -4).finished())));
- EXPECT_THAT(MatrixToVectors(Polytope4().Vertices()),
- ::testing::UnorderedElementsAreArray(
- MatrixToVectors((Eigen::Matrix<double, 2, 4>() << 1, 1.5, 1.5,
- 2, 0, -0.5, 0.5, 0).finished())));
- EXPECT_THAT(MatrixToVectors(Polytope5().Vertices()),
- ::testing::UnorderedElementsAreArray(
- MatrixToVectors((Eigen::Matrix<double, 2, 4>() << 0.5, 1, 1.5,
- 1, 0, 0.5, 0, -0.5).finished())));
+ EXPECT_THAT(
+ MatrixToVectors(Polytope4().Vertices()),
+ ::testing::UnorderedElementsAreArray(MatrixToVectors(
+ (Eigen::Matrix<double, 2, 4>() << 1, 1.5, 1.5, 2, 0, -0.5, 0.5, 0)
+ .finished())));
+ EXPECT_THAT(
+ MatrixToVectors(Polytope5().Vertices()),
+ ::testing::UnorderedElementsAreArray(MatrixToVectors(
+ (Eigen::Matrix<double, 2, 4>() << 0.5, 1, 1.5, 1, 0, 0.5, 0, -0.5)
+ .finished())));
}
} // namespace controls
diff --git a/frc971/control_loops/pose.h b/frc971/control_loops/pose.h
index 7945e5e..1eccf28 100644
--- a/frc971/control_loops/pose.h
+++ b/frc971/control_loops/pose.h
@@ -4,6 +4,7 @@
#include <vector>
#include "Eigen/Dense"
+
#include "aos/util/math.h"
namespace frc971 {
@@ -158,7 +159,7 @@
// Position and yaw relative to base_.
Pos pos_;
Scalar theta_;
-}; // class TypedPose
+}; // class TypedPose
typedef TypedPose<double> Pose;
@@ -222,6 +223,7 @@
::std::vector<TypedPose<Scalar>> PlotPoints() const {
return {pose1_, pose2_};
}
+
private:
TypedPose<Scalar> pose1_;
TypedPose<Scalar> pose2_;
diff --git a/frc971/control_loops/pose_test.cc b/frc971/control_loops/pose_test.cc
index 18486e3..845dda7 100644
--- a/frc971/control_loops/pose_test.cc
+++ b/frc971/control_loops/pose_test.cc
@@ -97,8 +97,7 @@
pose.set_theta(M_PI_2);
TransformationMatrix expected;
expected << 0, -1, 0, 1, 1, 0, 0, 2, 0, 0, 1, 3, 0, 0, 0, 1;
- TransformationMatrix pose_transformation =
- pose.AsTransformationMatrix();
+ TransformationMatrix pose_transformation = pose.AsTransformationMatrix();
ASSERT_LT((expected - pose_transformation).norm(), 1e-15)
<< "expected:\n"
<< expected << "\nBut got:\n"
diff --git a/frc971/control_loops/position_sensor_sim.h b/frc971/control_loops/position_sensor_sim.h
index 77e2d5f..fae0e7d 100644
--- a/frc971/control_loops/position_sensor_sim.h
+++ b/frc971/control_loops/position_sensor_sim.h
@@ -1,8 +1,9 @@
#ifndef FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
#define FRC971_CONTROL_LOOPS_POSITION_SENSOR_SIM_H_
-#include "aos/testing/random_seed.h"
#include "flatbuffers/flatbuffers.h"
+
+#include "aos/testing/random_seed.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/gaussian_noise.h"
diff --git a/frc971/control_loops/position_sensor_sim_test.cc b/frc971/control_loops/position_sensor_sim_test.cc
index e8beabf..4be0dc4 100644
--- a/frc971/control_loops/position_sensor_sim_test.cc
+++ b/frc971/control_loops/position_sensor_sim_test.cc
@@ -1,15 +1,15 @@
+#include "frc971/control_loops/position_sensor_sim.h"
+
#include <unistd.h>
#include <memory>
-
#include <random>
+#include "flatbuffers/flatbuffers.h"
+#include "gtest/gtest.h"
+
#include "aos/die.h"
#include "frc971/control_loops/control_loops_generated.h"
-#include "frc971/control_loops/position_sensor_sim.h"
-#include "gtest/gtest.h"
-
-#include "flatbuffers/flatbuffers.h"
namespace frc971 {
namespace control_loops {
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index 1343770..dff5aad 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -7,6 +7,7 @@
#include <utility>
#include "Eigen/Dense"
+
#include "aos/util/trapezoid_profile.h"
#include "frc971/constants.h"
#include "frc971/control_loops/control_loop.h"
diff --git a/frc971/control_loops/quaternion_utils_test.cc b/frc971/control_loops/quaternion_utils_test.cc
index ada5e60..32b1915 100644
--- a/frc971/control_loops/quaternion_utils_test.cc
+++ b/frc971/control_loops/quaternion_utils_test.cc
@@ -1,14 +1,15 @@
-#include "Eigen/Dense"
+#include "frc971/control_loops/quaternion_utils.h"
#include <random>
-#include "aos/testing/random_seed.h"
-#include "frc971/control_loops/jacobian.h"
-#include "frc971/control_loops/quaternion_utils.h"
-#include "frc971/control_loops/runge_kutta.h"
+#include "Eigen/Dense"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/testing/random_seed.h"
+#include "frc971/control_loops/jacobian.h"
+#include "frc971/control_loops/runge_kutta.h"
+
namespace frc971 {
namespace controls {
namespace testing {
diff --git a/frc971/control_loops/simple_capped_state_feedback_loop.h b/frc971/control_loops/simple_capped_state_feedback_loop.h
index 9ed40d6..b2049a6 100644
--- a/frc971/control_loops/simple_capped_state_feedback_loop.h
+++ b/frc971/control_loops/simple_capped_state_feedback_loop.h
@@ -15,8 +15,9 @@
: public StateFeedbackLoop<number_of_states, number_of_inputs,
number_of_outputs> {
public:
- SimpleCappedStateFeedbackLoop(StateFeedbackLoop<
- number_of_states, number_of_inputs, number_of_outputs> &&loop)
+ SimpleCappedStateFeedbackLoop(
+ StateFeedbackLoop<number_of_states, number_of_inputs, number_of_outputs>
+ &&loop)
: StateFeedbackLoop<number_of_states, number_of_inputs,
number_of_outputs>(::std::move(loop)),
min_voltages_(
@@ -66,8 +67,7 @@
private:
void CapU() override {
- this->mutable_U() =
- this->U().array().min(max_voltages_).max(min_voltages_);
+ this->mutable_U() = this->U().array().min(max_voltages_).max(min_voltages_);
}
::Eigen::Array<double, number_of_inputs, 1> min_voltages_;
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 1ea94d9..65e0ba1 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -8,11 +8,13 @@
#include <vector>
#include "Eigen/Dense"
+
#include "unsupported/Eigen/MatrixFunctions"
#if defined(__linux__)
-#include "aos/logging/logging.h"
#include "glog/logging.h"
+
+#include "aos/logging/logging.h"
#endif
#include "aos/macros.h"
@@ -356,7 +358,8 @@
&&observers)
: coefficients_(::std::move(observers)) {
last_U_ = Eigen::Matrix<Scalar, number_of_inputs, Eigen::Dynamic>(
- number_of_inputs, std::max(static_cast<size_t>(1u), coefficients().delayed_u));
+ number_of_inputs,
+ std::max(static_cast<size_t>(1u), coefficients().delayed_u));
}
StateFeedbackObserver(StateFeedbackObserver &&other)
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index 62e3d08..c886775 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -1,6 +1,9 @@
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "flatbuffers/flatbuffers.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loop_test.h"
@@ -14,8 +17,6 @@
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_generated.h"
#include "frc971/zeroing/zeroing.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
using ::frc971::control_loops::PositionSensorSimulator;
diff --git a/frc971/control_loops/voltage_cap/voltage_cap.cc b/frc971/control_loops/voltage_cap/voltage_cap.cc
index 3de5828..d6d8456 100644
--- a/frc971/control_loops/voltage_cap/voltage_cap.cc
+++ b/frc971/control_loops/voltage_cap/voltage_cap.cc
@@ -1,4 +1,4 @@
-#include "voltage_cap.h"
+#include "frc971/control_loops/voltage_cap/voltage_cap.h"
#include <limits>
diff --git a/frc971/control_loops/voltage_cap/voltage_cap_test.cc b/frc971/control_loops/voltage_cap/voltage_cap_test.cc
index 4eab267..ea812b9 100644
--- a/frc971/control_loops/voltage_cap/voltage_cap_test.cc
+++ b/frc971/control_loops/voltage_cap/voltage_cap_test.cc
@@ -1,7 +1,7 @@
-#include <unistd.h>
-
#include "frc971/control_loops/voltage_cap/voltage_cap.h"
+#include <unistd.h>
+
#include "gtest/gtest.h"
namespace frc971 {
@@ -103,7 +103,7 @@
EXPECT_EQ(12.0, voltage_one);
EXPECT_EQ(-10.0, voltage_two);
}
-TEST_F(VoltageTest, QuadrantOneToFour12){
+TEST_F(VoltageTest, QuadrantOneToFour12) {
// Point in Quadrant 1 intersects box in Quadrant 4.
double voltage_one, voltage_two;
VoltageCap(12.0, 11.0, 33.0, &voltage_one, &voltage_two);
@@ -218,7 +218,7 @@
EXPECT_EQ(6.0, voltage_one);
EXPECT_EQ(-5.0, voltage_two);
}
-TEST_F(VoltageTest, QuadrantOneToFour6){
+TEST_F(VoltageTest, QuadrantOneToFour6) {
// Point in Quadrant 1 intersects box in Quadrant 4.
double voltage_one, voltage_two;
VoltageCap(6.0, 22.0, 33.0, &voltage_one, &voltage_two);
diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index 449cee1..c94bb23 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -11,19 +11,19 @@
namespace testing {
class WristTest_NoWindupPositive_Test;
class WristTest_NoWindupNegative_Test;
-};
+}; // namespace testing
// Note: Everything in this file assumes that there is a 1 cycle delay between
// power being requested and it showing up at the motor. It assumes that
// X_hat(2, 1) is the voltage being applied as well. It will go unstable if
// that isn't true.
-template<int kNumZeroSensors>
+template <int kNumZeroSensors>
class ZeroedJoint;
// This class implements the CapU function correctly given all the extra
// information that we know about from the wrist motor.
-template<int kNumZeroSensors>
+template <int kNumZeroSensors>
class ZeroedStateFeedbackLoop : public StateFeedbackLoop<3, 1, 1> {
public:
ZeroedStateFeedbackLoop(StateFeedbackLoop<3, 1, 1> loop,
@@ -31,8 +31,7 @@
: StateFeedbackLoop<3, 1, 1>(loop),
zeroed_joint_(zeroed_joint),
voltage_(0.0),
- last_voltage_(0.0) {
- }
+ last_voltage_(0.0) {}
// Caps U, but this time respects the state of the wrist as well.
virtual void CapU();
@@ -45,6 +44,7 @@
// Zeros the accumulator.
void ZeroPower() { voltage_ = 0.0; }
+
private:
ZeroedJoint<kNumZeroSensors> *zeroed_joint_;
@@ -54,7 +54,7 @@
double uncapped_voltage_;
};
-template<int kNumZeroSensors>
+template <int kNumZeroSensors>
void ZeroedStateFeedbackLoop<kNumZeroSensors>::CapU() {
const double old_voltage = voltage_;
voltage_ += U(0, 0);
@@ -74,18 +74,18 @@
const bool is_ready =
zeroed_joint_->state_ == ZeroedJoint<kNumZeroSensors>::READY;
- double limit = is_ready ?
- 12.0 : zeroed_joint_->config_data_.max_zeroing_voltage;
+ double limit =
+ is_ready ? 12.0 : zeroed_joint_->config_data_.max_zeroing_voltage;
// Make sure that reality and the observer can't get too far off. There is a
// delay by one cycle between the applied voltage and X_hat(2, 0), so compare
// against last cycle's voltage.
if (X_hat(2, 0) > last_voltage_ + 2.0) {
- //X_hat(2, 0) = last_voltage_ + 2.0;
+ // X_hat(2, 0) = last_voltage_ + 2.0;
voltage_ -= X_hat(2, 0) - (last_voltage_ + 2.0);
LOG(DEBUG, "X_hat(2, 0) = %f\n", X_hat(2, 0));
- } else if (X_hat(2, 0) < last_voltage_ -2.0) {
- //X_hat(2, 0) = last_voltage_ - 2.0;
+ } else if (X_hat(2, 0) < last_voltage_ - 2.0) {
+ // X_hat(2, 0) = last_voltage_ - 2.0;
voltage_ += X_hat(2, 0) - (last_voltage_ - 2.0);
LOG(DEBUG, "X_hat(2, 0) = %f\n", X_hat(2, 0));
}
@@ -99,10 +99,9 @@
last_voltage_ = voltage_;
}
-
// Class to zero and control a joint with any number of zeroing sensors with a
// state feedback controller.
-template<int kNumZeroSensors>
+template <int kNumZeroSensors>
class ZeroedJoint {
public:
// Sturcture to hold the hardware configuration information.
@@ -229,7 +228,7 @@
MOVING_OFF,
ZEROING,
READY,
- ESTOP
+ ESTOP,
};
// Internal state for zeroing.
@@ -362,7 +361,7 @@
// again.
const double calibration =
position->hall_effect_positions[active_sensor_index];
- if (!is_between(last_off_position_, position->position,
+ if (!is_between(last_off_position_, position->position,
calibration)) {
LOG(ERROR, "Got a bogus calibration number. Trying again.\n");
LOG(ERROR,
@@ -405,8 +404,8 @@
// Update the observer.
loop_->Update(position != NULL, !output_enabled);
- LOG(DEBUG, "X_hat={%f, %f, %f}\n",
- loop_->X_hat(0, 0), loop_->X_hat(1, 0), loop_->X_hat(2, 0));
+ LOG(DEBUG, "X_hat={%f, %f, %f}\n", loop_->X_hat(0, 0), loop_->X_hat(1, 0),
+ loop_->X_hat(2, 0));
capped_goal_ = false;
// Verify that the zeroing goal hasn't run away.
@@ -420,13 +419,16 @@
case ZEROING:
// Check if we have cliped and adjust the goal.
if (loop_->uncapped_voltage() > config_data_.max_zeroing_voltage) {
- double dx = (loop_->uncapped_voltage() -
- config_data_.max_zeroing_voltage) / loop_->K(0, 0);
+ double dx =
+ (loop_->uncapped_voltage() - config_data_.max_zeroing_voltage) /
+ loop_->K(0, 0);
zeroing_position_ -= dx;
capped_goal_ = true;
- } else if(loop_->uncapped_voltage() < -config_data_.max_zeroing_voltage) {
- double dx = (loop_->uncapped_voltage() +
- config_data_.max_zeroing_voltage) / loop_->K(0, 0);
+ } else if (loop_->uncapped_voltage() <
+ -config_data_.max_zeroing_voltage) {
+ double dx =
+ (loop_->uncapped_voltage() + config_data_.max_zeroing_voltage) /
+ loop_->K(0, 0);
zeroing_position_ -= dx;
capped_goal_ = true;
}
diff --git a/frc971/image_streamer/image_streamer.cc b/frc971/image_streamer/image_streamer.cc
index de56d55..7f85b3f 100644
--- a/frc971/image_streamer/image_streamer.cc
+++ b/frc971/image_streamer/image_streamer.cc
@@ -15,15 +15,16 @@
#include <thread>
#include "absl/strings/str_format.h"
+#include "flatbuffers/flatbuffers.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/glib_main_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/network/web_proxy_generated.h"
#include "aos/seasocks/seasocks_logger.h"
-#include "flatbuffers/flatbuffers.h"
#include "frc971/vision/vision_generated.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
#include "internal/Embedded.h"
#include "seasocks/Server.h"
#include "seasocks/StringUtil.h"
diff --git a/frc971/imu/blink.c b/frc971/imu/blink.c
index d478d78..f34552b 100644
--- a/frc971/imu/blink.c
+++ b/frc971/imu/blink.c
@@ -10,14 +10,14 @@
#ifndef PICO_DEFAULT_LED_PIN
#warning blink example requires a board with a regular LED
#else
- const uint LED_PIN = PICO_DEFAULT_LED_PIN;
- gpio_init(LED_PIN);
- gpio_set_dir(LED_PIN, GPIO_OUT);
- while (true) {
- gpio_put(LED_PIN, 1);
- sleep_ms(250);
- gpio_put(LED_PIN, 0);
- sleep_ms(250);
- }
+ const uint LED_PIN = PICO_DEFAULT_LED_PIN;
+ gpio_init(LED_PIN);
+ gpio_set_dir(LED_PIN, GPIO_OUT);
+ while (true) {
+ gpio_put(LED_PIN, 1);
+ sleep_ms(250);
+ gpio_put(LED_PIN, 0);
+ sleep_ms(250);
+ }
#endif
}
diff --git a/frc971/imu_reader/imu.cc b/frc971/imu_reader/imu.cc
index b477e4c..acdd6d9 100644
--- a/frc971/imu_reader/imu.cc
+++ b/frc971/imu_reader/imu.cc
@@ -1,8 +1,9 @@
#include "frc971/imu_reader/imu.h"
-#include "aos/util/crc32.h"
#include "glog/logging.h"
+#include "aos/util/crc32.h"
+
namespace frc971::imu {
namespace {
diff --git a/frc971/shooter_interpolation/interpolation.h b/frc971/shooter_interpolation/interpolation.h
index dd0e316..bce532f 100644
--- a/frc971/shooter_interpolation/interpolation.h
+++ b/frc971/shooter_interpolation/interpolation.h
@@ -21,7 +21,7 @@
// power for a shot
YValue Get(double x) const;
- bool GetInRange(double x, YValue* type) const;
+ bool GetInRange(double x, YValue *type) const;
private:
// Contains the list of angle entries in the interpolation table
@@ -29,21 +29,20 @@
};
template <typename YValue>
-InterpolationTable<YValue>::InterpolationTable(const ::std::vector<Point> &table)
- : table_(table) {
- ::std::sort(table_.begin(), table_.end(),
- [](const Point &a, const Point &b) {
- return a.first < b.first;
- });
- }
+InterpolationTable<YValue>::InterpolationTable(
+ const ::std::vector<Point> &table)
+ : table_(table) {
+ ::std::sort(table_.begin(), table_.end(),
+ [](const Point &a, const Point &b) { return a.first < b.first; });
+}
template <typename YValue>
YValue InterpolationTable<YValue>::Get(double x) const {
// Points to to the smallest item such that it->first >= dist, or end() if no
// such item exists.
- auto it = ::std::lower_bound(table_.begin(), table_.end(), x,
- [](const Point &a,
- double dist) { return a.first < dist; });
+ auto it = ::std::lower_bound(
+ table_.begin(), table_.end(), x,
+ [](const Point &a, double dist) { return a.first < dist; });
if (it == table_.begin()) {
return it->second;
} else if (it == table_.end()) {
@@ -59,12 +58,12 @@
}
template <typename YValue>
-bool InterpolationTable<YValue>::GetInRange(double x, YValue* result) const {
+bool InterpolationTable<YValue>::GetInRange(double x, YValue *result) const {
// Points to to the smallest item such that it->first >= dist, or end() if no
// such item exists.
- auto it = ::std::lower_bound(table_.begin(), table_.end(), x,
- [](const Point &a,
- double dist) { return a.first < dist; });
+ auto it = ::std::lower_bound(
+ table_.begin(), table_.end(), x,
+ [](const Point &a, double dist) { return a.first < dist; });
if (it == table_.begin()) {
return false;
} else if (it == table_.end()) {
diff --git a/frc971/shooter_interpolation/interpolation_test.cc b/frc971/shooter_interpolation/interpolation_test.cc
index fd99124..92a2b76 100644
--- a/frc971/shooter_interpolation/interpolation_test.cc
+++ b/frc971/shooter_interpolation/interpolation_test.cc
@@ -1,3 +1,5 @@
+#include "frc971/shooter_interpolation/interpolation.h"
+
#include <unistd.h>
#include <memory>
@@ -6,19 +8,16 @@
#include "gtest/gtest.h"
-#include "frc971/shooter_interpolation/interpolation.h"
-
namespace frc971 {
namespace shooter_interpolation {
struct TestShotParams {
double angle;
double power;
- static TestShotParams BlendY(double x, const TestShotParams& a, const TestShotParams& b) {
- return TestShotParams{
- Blend(x, a.angle, b.angle),
- Blend(x, a.power, b.power)
- };
+ static TestShotParams BlendY(double x, const TestShotParams &a,
+ const TestShotParams &b) {
+ return TestShotParams{Blend(x, a.angle, b.angle),
+ Blend(x, a.power, b.power)};
}
};
@@ -32,7 +31,10 @@
// correctly
TEST(InterpolationTable, ExactNumbers) {
::std::vector<::std::pair<double, TestShotParams>> data = {
- {1, {10, 10}}, {3, {20, 20}}, {2, {15, 12345678}}, {4, {10, 567.323}},
+ {1, {10, 10}},
+ {3, {20, 20}},
+ {2, {15, 12345678}},
+ {4, {10, 567.323}},
};
TestInterpolationTable interpolation(data);
@@ -44,7 +46,10 @@
// correctly
TEST(InterpolationTable, InexactNumbers) {
::std::vector<::std::pair<double, TestShotParams>> data = {
- {1, {10, 10}}, {3, {20, 20}}, {2, {15, 15}}, {4, {10, 567.323}},
+ {1, {10, 10}},
+ {3, {20, 20}},
+ {2, {15, 15}},
+ {4, {10, 567.323}},
};
TestInterpolationTable interpolation(data);
@@ -56,7 +61,10 @@
// processed correctly
TEST(InterpolationTable, OutOfScopeNumbers) {
::std::vector<::std::pair<double, TestShotParams>> data = {
- {1, {10, 10}}, {3, {20, 20}}, {2, {15, 12345678}}, {4, {10, 567.323}},
+ {1, {10, 10}},
+ {3, {20, 20}},
+ {2, {15, 12345678}},
+ {4, {10, 567.323}},
};
TestInterpolationTable interpolation(data);
diff --git a/frc971/solvers/convex.h b/frc971/solvers/convex.h
index 140cac1..3de357c 100644
--- a/frc971/solvers/convex.h
+++ b/frc971/solvers/convex.h
@@ -4,11 +4,11 @@
#include <sys/types.h>
#include <unistd.h>
-#include <Eigen/Dense>
#include <iomanip>
#include "absl/strings/str_join.h"
#include "glog/logging.h"
+#include <Eigen/Dense>
namespace frc971 {
namespace solvers {
diff --git a/frc971/solvers/sparse_convex.cc b/frc971/solvers/sparse_convex.cc
index dfb418f..7e2a6ca 100644
--- a/frc971/solvers/sparse_convex.cc
+++ b/frc971/solvers/sparse_convex.cc
@@ -1,10 +1,9 @@
#include "frc971/solvers/sparse_convex.h"
-#include <Eigen/Sparse>
-#include <Eigen/SparseLU>
-
#include "absl/strings/str_join.h"
#include "glog/logging.h"
+#include <Eigen/Sparse>
+#include <Eigen/SparseLU>
namespace frc971 {
namespace solvers {
diff --git a/frc971/solvers/sparse_convex.h b/frc971/solvers/sparse_convex.h
index 87f9bcb..9695431 100644
--- a/frc971/solvers/sparse_convex.h
+++ b/frc971/solvers/sparse_convex.h
@@ -4,10 +4,10 @@
#include <sys/types.h>
#include <unistd.h>
-#include <Eigen/Sparse>
#include <iomanip>
#include "glog/logging.h"
+#include <Eigen/Sparse>
namespace frc971 {
namespace solvers {
@@ -104,21 +104,18 @@
};
// Computes all the values for the given problem at the given state.
- Derivatives ComputeDerivative(
- const SparseConvexProblem &problem,
- const Eigen::Ref<const Eigen::VectorXd> y);
+ Derivatives ComputeDerivative(const SparseConvexProblem &problem,
+ const Eigen::Ref<const Eigen::VectorXd> y);
// Computes Rt at the given state and with the given t_inverse. See 11.53 of
// cvxbook.pdf.
- Eigen::VectorXd Rt(
- const Derivatives &derivatives,
- Eigen::VectorXd y, double t_inverse);
+ Eigen::VectorXd Rt(const Derivatives &derivatives, Eigen::VectorXd y,
+ double t_inverse);
// Prints out all the derivatives with VLOG at the provided verbosity.
- void PrintDerivatives(
- const Derivatives &derivatives,
- const Eigen::Ref<const Eigen::VectorXd> y,
- std::string_view prefix, int verbosity);
+ void PrintDerivatives(const Derivatives &derivatives,
+ const Eigen::Ref<const Eigen::VectorXd> y,
+ std::string_view prefix, int verbosity);
};
} // namespace solvers
diff --git a/frc971/solvers/sparse_convex_test.cc b/frc971/solvers/sparse_convex_test.cc
index e391aa4..63a9409 100644
--- a/frc971/solvers/sparse_convex_test.cc
+++ b/frc971/solvers/sparse_convex_test.cc
@@ -36,8 +36,7 @@
}
// Returns the constraints f(X) < 0, and their derivitive.
- Eigen::VectorXd f(
- Eigen::Ref<const Eigen::VectorXd> X) const override {
+ Eigen::VectorXd f(Eigen::Ref<const Eigen::VectorXd> X) const override {
return C_ * X - c_;
}
Eigen::SparseMatrix<double> df(
@@ -49,9 +48,7 @@
Eigen::SparseMatrix<double> A() const override {
return Eigen::Matrix<double, 1, 2>(1, -1).sparseView();
}
- Eigen::VectorXd b() const override {
- return Eigen::Matrix<double, 1, 1>(0);
- }
+ Eigen::VectorXd b() const override { return Eigen::Matrix<double, 1, 1>(0); }
private:
Eigen::Matrix<double, 2, 2> Q_;
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index f01af3c..3b0bcc6 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -2,14 +2,15 @@
#include <algorithm>
#include <limits>
-#include <opencv2/highgui/highgui.hpp>
#include "Eigen/Dense"
+#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
+#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
+#include <opencv2/highgui/highgui.hpp>
+
#include "aos/events/simulated_event_loop.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
-#include "external/com_github_foxglove_schemas/CompressedImage_schema.h"
-#include "external/com_github_foxglove_schemas/ImageAnnotations_schema.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/wpilib/imu_batch_generated.h"
diff --git a/frc971/vision/calibration_accumulator.h b/frc971/vision/calibration_accumulator.h
index 132bb4b..6451d0c 100644
--- a/frc971/vision/calibration_accumulator.h
+++ b/frc971/vision/calibration_accumulator.h
@@ -4,6 +4,7 @@
#include <vector>
#include "Eigen/Dense"
+
#include "aos/events/simulated_event_loop.h"
#include "aos/time/time.h"
#include "frc971/control_loops/quaternion_utils.h"
diff --git a/frc971/vision/ceres/pose_graph_3d_error_term.h b/frc971/vision/ceres/pose_graph_3d_error_term.h
index c2ebde7..4dd5fbd 100644
--- a/frc971/vision/ceres/pose_graph_3d_error_term.h
+++ b/frc971/vision/ceres/pose_graph_3d_error_term.h
@@ -33,6 +33,7 @@
#include "Eigen/Core"
#include "ceres/autodiff_cost_function.h"
+
#include "types.h"
namespace ceres {
diff --git a/frc971/vision/ceres/read_g2o.h b/frc971/vision/ceres/read_g2o.h
index fea32e9..69fa16a 100644
--- a/frc971/vision/ceres/read_g2o.h
+++ b/frc971/vision/ceres/read_g2o.h
@@ -44,8 +44,8 @@
// Reads a single pose from the input and inserts it into the map. Returns false
// if there is a duplicate entry.
template <typename Pose, typename Allocator>
-bool ReadVertex(std::ifstream* infile,
- std::map<int, Pose, std::less<int>, Allocator>* poses) {
+bool ReadVertex(std::ifstream *infile,
+ std::map<int, Pose, std::less<int>, Allocator> *poses) {
int id;
Pose pose;
*infile >> id >> pose;
@@ -62,8 +62,8 @@
// Reads the contraints between two vertices in the pose graph
template <typename Constraint, typename Allocator>
-void ReadConstraint(std::ifstream* infile,
- std::vector<Constraint, Allocator>* constraints) {
+void ReadConstraint(std::ifstream *infile,
+ std::vector<Constraint, Allocator> *constraints) {
Constraint constraint;
*infile >> constraint;
@@ -92,18 +92,17 @@
// where the quaternion is in Hamilton form.
// A constraint is defined as follows:
//
-// EDGE_SE3:QUAT ID_a ID_b x_ab y_ab z_ab q_x_ab q_y_ab q_z_ab q_w_ab I_11 I_12 I_13 ... I_16 I_22 I_23 ... I_26 ... I_66 // NOLINT
+// EDGE_SE3:QUAT ID_a ID_b x_ab y_ab z_ab q_x_ab q_y_ab q_z_ab q_w_ab I_11 I_12
+// I_13 ... I_16 I_22 I_23 ... I_26 ... I_66 // NOLINT
//
// where I_ij is the (i, j)-th entry of the information matrix for the
// measurement. Only the upper-triangular part is stored. The measurement order
// is the delta position followed by the delta orientation.
-template <typename Pose,
- typename Constraint,
- typename MapAllocator,
+template <typename Pose, typename Constraint, typename MapAllocator,
typename VectorAllocator>
-bool ReadG2oFile(const std::string& filename,
- std::map<int, Pose, std::less<int>, MapAllocator>* poses,
- std::vector<Constraint, VectorAllocator>* constraints) {
+bool ReadG2oFile(const std::string &filename,
+ std::map<int, Pose, std::less<int>, MapAllocator> *poses,
+ std::vector<Constraint, VectorAllocator> *constraints) {
CHECK(poses != NULL);
CHECK(constraints != NULL);
diff --git a/frc971/vision/ceres/types.h b/frc971/vision/ceres/types.h
index d3f19ed..17e9bd3 100644
--- a/frc971/vision/ceres/types.h
+++ b/frc971/vision/ceres/types.h
@@ -52,7 +52,7 @@
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
-inline std::istream& operator>>(std::istream& input, Pose3d& pose) {
+inline std::istream &operator>>(std::istream &input, Pose3d &pose) {
input >> pose.p.x() >> pose.p.y() >> pose.p.z() >> pose.q.x() >> pose.q.y() >>
pose.q.z() >> pose.q.w();
// Normalize the quaternion to account for precision loss due to
@@ -61,9 +61,7 @@
return input;
}
-typedef std::map<int,
- Pose3d,
- std::less<int>,
+typedef std::map<int, Pose3d, std::less<int>,
Eigen::aligned_allocator<std::pair<const int, Pose3d>>>
MapOfPoses;
@@ -88,8 +86,8 @@
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
-inline std::istream& operator>>(std::istream& input, Constraint3d& constraint) {
- Pose3d& t_be = constraint.t_be;
+inline std::istream &operator>>(std::istream &input, Constraint3d &constraint) {
+ Pose3d &t_be = constraint.t_be;
input >> constraint.id_begin >> constraint.id_end >> t_be;
for (int i = 0; i < 6 && input.good(); ++i) {
diff --git a/frc971/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
index 89ebe19..b55a493 100644
--- a/frc971/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -2,17 +2,18 @@
#include <chrono>
#include <functional>
+#include <string_view>
+
+#include "glog/logging.h"
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include <string_view>
#include "aos/events/event_loop.h"
#include "aos/flatbuffers.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
DEFINE_string(board_template_path, "",
"If specified, write an image to the specified path for the "
diff --git a/frc971/vision/charuco_lib.h b/frc971/vision/charuco_lib.h
index 2c35a0b..8af7b8c 100644
--- a/frc971/vision/charuco_lib.h
+++ b/frc971/vision/charuco_lib.h
@@ -2,16 +2,17 @@
#define Y2020_VISION_CHARUCO_LIB_H_
#include <functional>
-#include <opencv2/aruco/charuco.hpp>
-#include <opencv2/calib3d.hpp>
#include <string_view>
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "absl/types/span.h"
+#include "external/com_github_foxglove_schemas/ImageAnnotations_generated.h"
+#include <opencv2/aruco/charuco.hpp>
+#include <opencv2/calib3d.hpp>
+
#include "aos/events/event_loop.h"
#include "aos/network/message_bridge_server_generated.h"
-#include "external/com_github_foxglove_schemas/ImageAnnotations_generated.h"
#include "frc971/vision/calibration_generated.h"
DECLARE_bool(visualize);
diff --git a/frc971/vision/extrinsics_calibration.cc b/frc971/vision/extrinsics_calibration.cc
index daa371e..9459c84 100644
--- a/frc971/vision/extrinsics_calibration.cc
+++ b/frc971/vision/extrinsics_calibration.cc
@@ -1,19 +1,19 @@
#include "frc971/vision/extrinsics_calibration.h"
-#include "aos/time/time.h"
#include "ceres/ceres.h"
-#include "frc971/analysis/in_process_plotter.h"
-#include "frc971/control_loops/runge_kutta.h"
-#include "frc971/vision/calibration_accumulator.h"
-#include "frc971/vision/charuco_lib.h"
-#include "frc971/vision/visualize_robot.h"
-
#include <opencv2/core.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+#include "aos/time/time.h"
+#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/runge_kutta.h"
+#include "frc971/vision/calibration_accumulator.h"
+#include "frc971/vision/charuco_lib.h"
+#include "frc971/vision/visualize_robot.h"
+
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/extrinsics_calibration.h b/frc971/vision/extrinsics_calibration.h
index fb52ed9..f6c3ccc 100644
--- a/frc971/vision/extrinsics_calibration.h
+++ b/frc971/vision/extrinsics_calibration.h
@@ -3,6 +3,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
+
#include "frc971/vision/calibration_accumulator.h"
namespace frc971 {
diff --git a/frc971/vision/foxglove_image_converter_lib.h b/frc971/vision/foxglove_image_converter_lib.h
index 872ac14..cdba9e3 100644
--- a/frc971/vision/foxglove_image_converter_lib.h
+++ b/frc971/vision/foxglove_image_converter_lib.h
@@ -1,7 +1,8 @@
#ifndef FRC971_VISION_FOXGLOVE_IMAGE_CONVERTER_H_
#define FRC971_VISION_FOXGLOVE_IMAGE_CONVERTER_H_
-#include "aos/events/event_loop.h"
#include "external/com_github_foxglove_schemas/CompressedImage_generated.h"
+
+#include "aos/events/event_loop.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/vision/vision_generated.h"
diff --git a/frc971/vision/foxglove_image_converter_test.cc b/frc971/vision/foxglove_image_converter_test.cc
index 7a3f786..c9c7d66 100644
--- a/frc971/vision/foxglove_image_converter_test.cc
+++ b/frc971/vision/foxglove_image_converter_test.cc
@@ -1,10 +1,10 @@
-#include "frc971/vision/foxglove_image_converter_lib.h"
+#include "gtest/gtest.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
#include "aos/testing/tmpdir.h"
-#include "gtest/gtest.h"
+#include "frc971/vision/foxglove_image_converter_lib.h"
DECLARE_int32(jpeg_quality);
diff --git a/frc971/vision/geometry.h b/frc971/vision/geometry.h
index e3527f5..7858418 100644
--- a/frc971/vision/geometry.h
+++ b/frc971/vision/geometry.h
@@ -1,10 +1,11 @@
#ifndef FRC971_VISION_GEOMETRY_H_
#define FRC971_VISION_GEOMETRY_H_
-#include "aos/util/math.h"
#include "glog/logging.h"
#include "opencv2/core/types.hpp"
+#include "aos/util/math.h"
+
namespace frc971::vision {
// Linear equation in the form y = mx + b
diff --git a/frc971/vision/geometry_test.cc b/frc971/vision/geometry_test.cc
index 19e54c4..f34594c 100644
--- a/frc971/vision/geometry_test.cc
+++ b/frc971/vision/geometry_test.cc
@@ -2,10 +2,11 @@
#include <cmath>
-#include "aos/util/math.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include "aos/util/math.h"
+
namespace frc971::vision::testing {
TEST(GeometryTest, SlopeInterceptLine) {
diff --git a/frc971/vision/intrinsics_calibration.cc b/frc971/vision/intrinsics_calibration.cc
index 224a37c..452dd74 100644
--- a/frc971/vision/intrinsics_calibration.cc
+++ b/frc971/vision/intrinsics_calibration.cc
@@ -1,10 +1,11 @@
#include <cmath>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc.hpp>
#include <regex>
#include "absl/strings/str_format.h"
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/network/team_number.h"
diff --git a/frc971/vision/intrinsics_calibration_lib.h b/frc971/vision/intrinsics_calibration_lib.h
index 10062ba..2da33f1 100644
--- a/frc971/vision/intrinsics_calibration_lib.h
+++ b/frc971/vision/intrinsics_calibration_lib.h
@@ -1,14 +1,15 @@
#ifndef FRC971_VISION_CALIBRATION_LIB_H_
#define FRC971_VISION_CALIBRATION_LIB_H_
#include <cmath>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc.hpp>
#include <regex>
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "absl/strings/str_format.h"
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
#include "aos/events/event_loop.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
diff --git a/frc971/vision/media_device.cc b/frc971/vision/media_device.cc
index 4c227a8..a369cfb 100644
--- a/frc971/vision/media_device.cc
+++ b/frc971/vision/media_device.cc
@@ -15,9 +15,10 @@
#include "absl/strings/str_cat.h"
#include "absl/strings/str_split.h"
+#include "glog/logging.h"
+
#include "aos/scoped/scoped_fd.h"
#include "aos/util/file.h"
-#include "glog/logging.h"
namespace frc971 {
namespace vision {
@@ -263,8 +264,9 @@
format.format.quantization = V4L2_QUANTIZATION_DEFAULT;
format.format.xfer_func = V4L2_XFER_FUNC_DEFAULT;
- LOG(INFO) << "Setting " << entity()->name() << " pad " << index() << " format to "
- << width << "x" << height << " code 0x" << std::hex << code;
+ LOG(INFO) << "Setting " << entity()->name() << " pad " << index()
+ << " format to " << width << "x" << height << " code 0x" << std::hex
+ << code;
PCHECK(ioctl(fd, VIDIOC_SUBDEV_S_FMT, &format) == 0);
diff --git a/frc971/vision/media_device.h b/frc971/vision/media_device.h
index b3b93a6..a2a86fe 100644
--- a/frc971/vision/media_device.h
+++ b/frc971/vision/media_device.h
@@ -12,9 +12,10 @@
#include <string_view>
#include <vector>
-#include "aos/scoped/scoped_fd.h"
#include "glog/logging.h"
+#include "aos/scoped/scoped_fd.h"
+
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/target_mapper.cc b/frc971/vision/target_mapper.cc
index 21bd443..e7a6955 100644
--- a/frc971/vision/target_mapper.cc
+++ b/frc971/vision/target_mapper.cc
@@ -1,6 +1,7 @@
#include "frc971/vision/target_mapper.h"
#include "absl/strings/str_format.h"
+
#include "frc971/control_loops/control_loop.h"
#include "frc971/vision/ceres/pose_graph_3d_error_term.h"
#include "frc971/vision/geometry.h"
diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index d10d6d8..cfefcc7 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -3,8 +3,9 @@
#include <unordered_map>
-#include "aos/events/simulated_event_loop.h"
#include "ceres/ceres.h"
+
+#include "aos/events/simulated_event_loop.h"
#include "frc971/vision/ceres/types.h"
#include "frc971/vision/target_map_generated.h"
#include "frc971/vision/visualize_robot.h"
diff --git a/frc971/vision/target_mapper_test.cc b/frc971/vision/target_mapper_test.cc
index 9c86965..8c6d37d 100644
--- a/frc971/vision/target_mapper_test.cc
+++ b/frc971/vision/target_mapper_test.cc
@@ -2,12 +2,13 @@
#include <random>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
#include "aos/testing/random_seed.h"
#include "aos/util/math.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
DECLARE_int32(min_target_id);
DECLARE_int32(max_target_id);
diff --git a/frc971/vision/v4l2_reader.h b/frc971/vision/v4l2_reader.h
index 8764024..6338ba5 100644
--- a/frc971/vision/v4l2_reader.h
+++ b/frc971/vision/v4l2_reader.h
@@ -5,6 +5,8 @@
#include <string>
#include "absl/types/span.h"
+#include "glog/logging.h"
+
#include "aos/containers/ring_buffer.h"
#include "aos/events/epoll.h"
#include "aos/events/event_loop.h"
@@ -13,7 +15,6 @@
#include "aos/scoped/scoped_fd.h"
#include "aos/util/threaded_consumer.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/visualize_robot.cc b/frc971/vision/visualize_robot.cc
index 55932ef..0c7a536 100644
--- a/frc971/vision/visualize_robot.cc
+++ b/frc971/vision/visualize_robot.cc
@@ -1,12 +1,11 @@
#include "frc971/vision/visualize_robot.h"
+#include "glog/logging.h"
#include <opencv2/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include "glog/logging.h"
-
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/visualize_robot.h b/frc971/vision/visualize_robot.h
index 31d584d..c679dba 100644
--- a/frc971/vision/visualize_robot.h
+++ b/frc971/vision/visualize_robot.h
@@ -1,13 +1,12 @@
#ifndef FRC971_VISION_VISUALIZE_ROBOT_H_
#define FRC971_VISION_VISUALIZE_ROBOT_H_
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include "Eigen/Dense"
-#include "Eigen/Geometry"
-
namespace frc971 {
namespace vision {
diff --git a/frc971/vision/visualize_robot_sample.cc b/frc971/vision/visualize_robot_sample.cc
index 59acba0..6ca7a9c 100644
--- a/frc971/vision/visualize_robot_sample.cc
+++ b/frc971/vision/visualize_robot_sample.cc
@@ -1,19 +1,18 @@
-#include "frc971/vision/visualize_robot.h"
-
-#include "aos/init.h"
-#include "aos/logging/logging.h"
-#include "glog/logging.h"
+#include <math.h>
#include "Eigen/Dense"
-
-#include <math.h>
+#include "glog/logging.h"
#include <opencv2/aruco.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+
+#include "aos/init.h"
+#include "aos/logging/logging.h"
#include "aos/time/time.h"
+#include "frc971/vision/visualize_robot.h"
namespace frc971 {
namespace vision {
diff --git a/frc971/wpilib/ADIS16470.cc b/frc971/wpilib/ADIS16470.cc
index d43d2fb..95d5baf 100644
--- a/frc971/wpilib/ADIS16470.cc
+++ b/frc971/wpilib/ADIS16470.cc
@@ -2,9 +2,10 @@
#include <cinttypes>
+#include "glog/logging.h"
+
#include "aos/containers/sized_array.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
#include "hal/HAL.h"
namespace frc971 {
diff --git a/frc971/wpilib/ahal/AnalogInput.cc b/frc971/wpilib/ahal/AnalogInput.cc
index 7482476..7574715 100644
--- a/frc971/wpilib/ahal/AnalogInput.cc
+++ b/frc971/wpilib/ahal/AnalogInput.cc
@@ -6,13 +6,13 @@
/*----------------------------------------------------------------------------*/
#include "frc971/wpilib/ahal/AnalogInput.h"
-#include "hal/AnalogInput.h"
#include <sstream>
+#include "frc971/wpilib/ahal/WPIErrors.h"
+#include "hal/AnalogInput.h"
#include "hal/HAL.h"
#include "hal/Ports.h"
-#include "frc971/wpilib/ahal/WPIErrors.h"
using namespace frc;
diff --git a/frc971/wpilib/ahal/AnalogInput.h b/frc971/wpilib/ahal/AnalogInput.h
index 4540bbe..c4a4e94 100644
--- a/frc971/wpilib/ahal/AnalogInput.h
+++ b/frc971/wpilib/ahal/AnalogInput.h
@@ -10,8 +10,8 @@
#include <memory>
#include <string>
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/SensorBase.h"
+#include "hal/Types.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/AnalogTrigger.cc b/frc971/wpilib/ahal/AnalogTrigger.cc
index bd63189..aeaf6ce 100644
--- a/frc971/wpilib/ahal/AnalogTrigger.cc
+++ b/frc971/wpilib/ahal/AnalogTrigger.cc
@@ -7,12 +7,12 @@
#include "frc971/wpilib/ahal/AnalogTrigger.h"
-#include <memory>
-#include <utility>
-
#include <hal/FRCUsageReporting.h>
#include <hal/HAL.h>
+#include <memory>
+#include <utility>
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Base.h"
#include "frc971/wpilib/ahal/DutyCycle.h"
@@ -25,7 +25,7 @@
m_ownsAnalog = true;
}
-AnalogTrigger::AnalogTrigger(AnalogInput* input) {
+AnalogTrigger::AnalogTrigger(AnalogInput *input) {
m_analogInput = input;
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &status);
@@ -40,7 +40,7 @@
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
}
-AnalogTrigger::AnalogTrigger(DutyCycle* input) {
+AnalogTrigger::AnalogTrigger(DutyCycle *input) {
m_dutyCycle = input;
int32_t status = 0;
m_trigger = HAL_InitializeAnalogTriggerDutyCycle(input->m_handle, &status);
@@ -72,7 +72,7 @@
std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
}
-AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
+AnalogTrigger &AnalogTrigger::operator=(AnalogTrigger &&rhs) {
m_trigger = std::move(rhs.m_trigger);
std::swap(m_analogInput, rhs.m_analogInput);
std::swap(m_dutyCycle, rhs.m_dutyCycle);
diff --git a/frc971/wpilib/ahal/AnalogTrigger.h b/frc971/wpilib/ahal/AnalogTrigger.h
index 9fad5db..fdc12de 100644
--- a/frc971/wpilib/ahal/AnalogTrigger.h
+++ b/frc971/wpilib/ahal/AnalogTrigger.h
@@ -7,10 +7,10 @@
#pragma once
-#include <memory>
-
#include <hal/Types.h>
+#include <memory>
+
#include "frc971/wpilib/ahal/AnalogTriggerOutput.h"
namespace frc {
@@ -24,13 +24,13 @@
public:
explicit AnalogTrigger(int channel);
- explicit AnalogTrigger(AnalogInput* channel);
- explicit AnalogTrigger(DutyCycle* dutyCycle);
+ explicit AnalogTrigger(AnalogInput *channel);
+ explicit AnalogTrigger(DutyCycle *dutyCycle);
virtual ~AnalogTrigger();
- AnalogTrigger(AnalogTrigger&& rhs);
- AnalogTrigger& operator=(AnalogTrigger&& rhs);
+ AnalogTrigger(AnalogTrigger &&rhs);
+ AnalogTrigger &operator=(AnalogTrigger &&rhs);
void SetLimitsVoltage(double lower, double upper);
@@ -55,8 +55,8 @@
private:
hal::Handle<HAL_AnalogTriggerHandle> m_trigger;
- AnalogInput* m_analogInput = nullptr;
- DutyCycle* m_dutyCycle = nullptr;
+ AnalogInput *m_analogInput = nullptr;
+ DutyCycle *m_dutyCycle = nullptr;
bool m_ownsAnalog = false;
};
diff --git a/frc971/wpilib/ahal/AnalogTriggerOutput.cc b/frc971/wpilib/ahal/AnalogTriggerOutput.cc
index 1bbef1b..cbe40ba 100644
--- a/frc971/wpilib/ahal/AnalogTriggerOutput.cc
+++ b/frc971/wpilib/ahal/AnalogTriggerOutput.cc
@@ -35,7 +35,7 @@
int AnalogTriggerOutput::GetChannel() const { return m_trigger->GetIndex(); }
-AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
+AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger &trigger,
AnalogTriggerType outputType)
: m_trigger(&trigger), m_outputType(outputType) {
HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput,
diff --git a/frc971/wpilib/ahal/AnalogTriggerOutput.h b/frc971/wpilib/ahal/AnalogTriggerOutput.h
index 8896f37..687d9de 100644
--- a/frc971/wpilib/ahal/AnalogTriggerOutput.h
+++ b/frc971/wpilib/ahal/AnalogTriggerOutput.h
@@ -7,8 +7,8 @@
#pragma once
-#include "hal/AnalogTrigger.h"
#include "frc971/wpilib/ahal/DigitalSource.h"
+#include "hal/AnalogTrigger.h"
namespace frc {
@@ -66,7 +66,7 @@
// Uses pointer rather than smart pointer because a user can not construct
// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
// should always be in scope at the same time as an AnalogTrigger.
- const AnalogTrigger* m_trigger;
+ const AnalogTrigger *m_trigger;
AnalogTriggerType m_outputType;
};
diff --git a/frc971/wpilib/ahal/Compressor.cc b/frc971/wpilib/ahal/Compressor.cc
index ba04e52..97f8af1 100644
--- a/frc971/wpilib/ahal/Compressor.cc
+++ b/frc971/wpilib/ahal/Compressor.cc
@@ -155,7 +155,8 @@
int32_t status = 0;
bool value;
- value = HAL_GetCTREPCMCompressorCurrentTooHighFault(m_compressorHandle, &status);
+ value =
+ HAL_GetCTREPCMCompressorCurrentTooHighFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -179,8 +180,8 @@
int32_t status = 0;
bool value;
- value =
- HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_compressorHandle, &status);
+ value = HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_compressorHandle,
+ &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -204,7 +205,8 @@
int32_t status = 0;
bool value;
- value = HAL_GetCTREPCMCompressorShortedStickyFault(m_compressorHandle, &status);
+ value =
+ HAL_GetCTREPCMCompressorShortedStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -247,7 +249,8 @@
int32_t status = 0;
bool value;
- value = HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_compressorHandle, &status);
+ value = HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_compressorHandle,
+ &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -267,7 +270,8 @@
int32_t status = 0;
bool value;
- value = HAL_GetCTREPCMCompressorNotConnectedFault(m_compressorHandle, &status);
+ value =
+ HAL_GetCTREPCMCompressorNotConnectedFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
diff --git a/frc971/wpilib/ahal/Compressor.h b/frc971/wpilib/ahal/Compressor.h
index c358ce1..7f46bc5 100644
--- a/frc971/wpilib/ahal/Compressor.h
+++ b/frc971/wpilib/ahal/Compressor.h
@@ -10,8 +10,8 @@
#include <memory>
#include <string>
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/SensorBase.h"
+#include "hal/Types.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/Counter.cc b/frc971/wpilib/ahal/Counter.cc
index 8e91c82..5b4ce97 100644
--- a/frc971/wpilib/ahal/Counter.cc
+++ b/frc971/wpilib/ahal/Counter.cc
@@ -7,11 +7,11 @@
#include "frc971/wpilib/ahal/Counter.h"
-#include "hal/HAL.h"
#include "frc971/wpilib/ahal/AnalogTrigger.h"
#include "frc971/wpilib/ahal/Base.h"
#include "frc971/wpilib/ahal/DigitalInput.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
+#include "hal/HAL.h"
using namespace frc;
@@ -31,7 +31,7 @@
ClearDownSource();
}
-Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) {
+Counter::Counter(DigitalSource *source) : Counter(kTwoPulse) {
SetUpSource(source);
ClearDownSource();
}
@@ -41,13 +41,13 @@
ClearDownSource();
}
-Counter::Counter(const AnalogTrigger& trigger) : Counter(kTwoPulse) {
+Counter::Counter(const AnalogTrigger &trigger) : Counter(kTwoPulse) {
SetUpSource(trigger.CreateOutput(AnalogTriggerType::kState));
ClearDownSource();
}
-Counter::Counter(EncodingType encodingType, DigitalSource* upSource,
- DigitalSource* downSource, bool inverted)
+Counter::Counter(EncodingType encodingType, DigitalSource *upSource,
+ DigitalSource *downSource, bool inverted)
: Counter(encodingType,
std::shared_ptr<DigitalSource>(upSource,
NullDeleter<DigitalSource>()),
@@ -96,7 +96,7 @@
SetUpSource(std::make_shared<DigitalInput>(channel));
}
-void Counter::SetUpSource(AnalogTrigger* analogTrigger,
+void Counter::SetUpSource(AnalogTrigger *analogTrigger,
AnalogTriggerType triggerType) {
SetUpSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
NullDeleter<AnalogTrigger>()),
@@ -109,7 +109,7 @@
SetUpSource(analogTrigger->CreateOutput(triggerType));
}
-void Counter::SetUpSource(DigitalSource* source) {
+void Counter::SetUpSource(DigitalSource *source) {
SetUpSource(
std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
}
@@ -125,7 +125,7 @@
HAL_CHECK_STATUS(status);
}
-void Counter::SetUpSource(DigitalSource& source) {
+void Counter::SetUpSource(DigitalSource &source) {
SetUpSource(
std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
}
@@ -157,7 +157,7 @@
SetDownSource(std::make_shared<DigitalInput>(channel));
}
-void Counter::SetDownSource(AnalogTrigger* analogTrigger,
+void Counter::SetDownSource(AnalogTrigger *analogTrigger,
AnalogTriggerType triggerType) {
SetDownSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
NullDeleter<AnalogTrigger>()),
@@ -170,12 +170,12 @@
SetDownSource(analogTrigger->CreateOutput(triggerType));
}
-void Counter::SetDownSource(DigitalSource* source) {
+void Counter::SetDownSource(DigitalSource *source) {
SetDownSource(
std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
}
-void Counter::SetDownSource(DigitalSource& source) {
+void Counter::SetDownSource(DigitalSource &source) {
SetDownSource(
std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
}
diff --git a/frc971/wpilib/ahal/Counter.h b/frc971/wpilib/ahal/Counter.h
index b2c6ecb..1f7c4e0 100644
--- a/frc971/wpilib/ahal/Counter.h
+++ b/frc971/wpilib/ahal/Counter.h
@@ -10,11 +10,11 @@
#include <memory>
#include <string>
-#include "hal/Counter.h"
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/AnalogTrigger.h"
#include "frc971/wpilib/ahal/CounterBase.h"
#include "frc971/wpilib/ahal/SensorBase.h"
+#include "hal/Counter.h"
+#include "hal/Types.h"
namespace frc {
@@ -80,7 +80,7 @@
* @param source A pointer to the existing DigitalSource object. It will be
* set as the Up Source.
*/
- explicit Counter(DigitalSource* source);
+ explicit Counter(DigitalSource *source);
/**
* Create an instance of a counter from a Digital Source (such as a Digital
@@ -107,7 +107,7 @@
*
* @param trigger The reference to the existing AnalogTrigger object.
*/
- explicit Counter(const AnalogTrigger& trigger);
+ explicit Counter(const AnalogTrigger &trigger);
/**
* Create an instance of a Counter object.
@@ -121,8 +121,8 @@
* source
* @param inverted True to invert the output (reverse the direction)
*/
- Counter(EncodingType encodingType, DigitalSource* upSource,
- DigitalSource* downSource, bool inverted);
+ Counter(EncodingType encodingType, DigitalSource *upSource,
+ DigitalSource *downSource, bool inverted);
/**
* Create an instance of a Counter object.
@@ -141,8 +141,8 @@
~Counter() override;
- Counter(Counter&&) = default;
- Counter& operator=(Counter&&) = default;
+ Counter(Counter &&) = default;
+ Counter &operator=(Counter &&) = default;
/**
* Set the upsource for the counter as a digital input channel.
@@ -160,7 +160,7 @@
* @param triggerType The analog trigger output that will trigger the
* counter.
*/
- void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
+ void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
/**
* Set the up counting source to be an analog trigger.
@@ -173,7 +173,7 @@
void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType);
- void SetUpSource(DigitalSource* source);
+ void SetUpSource(DigitalSource *source);
/**
* Set the source object that causes the counter to count up.
@@ -191,7 +191,7 @@
*
* @param source Reference to the DigitalSource object to set as the up source
*/
- void SetUpSource(DigitalSource& source);
+ void SetUpSource(DigitalSource &source);
/**
* Set the edge sensitivity on an up counting source.
@@ -224,7 +224,7 @@
* @param triggerType The analog trigger output that will trigger the
* counter.
*/
- void SetDownSource(AnalogTrigger* analogTrigger,
+ void SetDownSource(AnalogTrigger *analogTrigger,
AnalogTriggerType triggerType);
/**
@@ -245,7 +245,7 @@
*
* @param source Pointer to the DigitalSource object to set as the down source
*/
- void SetDownSource(DigitalSource* source);
+ void SetDownSource(DigitalSource *source);
/**
* Set the source object that causes the counter to count down.
@@ -255,7 +255,7 @@
* @param source Reference to the DigitalSource object to set as the down
* source
*/
- void SetDownSource(DigitalSource& source);
+ void SetDownSource(DigitalSource &source);
void SetDownSource(std::shared_ptr<DigitalSource> source);
diff --git a/frc971/wpilib/ahal/DigitalGlitchFilter.cc b/frc971/wpilib/ahal/DigitalGlitchFilter.cc
index 83e6201..2b48fc9 100644
--- a/frc971/wpilib/ahal/DigitalGlitchFilter.cc
+++ b/frc971/wpilib/ahal/DigitalGlitchFilter.cc
@@ -10,10 +10,11 @@
#include <algorithm>
#include <array>
+#include "glog/logging.h"
+
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/Encoder.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
-#include "glog/logging.h"
#include "hal/Constants.h"
#include "hal/DIO.h"
#include "hal/HAL.h"
@@ -31,7 +32,8 @@
m_channelIndex = std::distance(m_filterAllocated.begin(), index);
*index = true;
- HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter, m_channelIndex);
+ HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
+ m_channelIndex);
}
DigitalGlitchFilter::~DigitalGlitchFilter() {
diff --git a/frc971/wpilib/ahal/DigitalGlitchFilter.h b/frc971/wpilib/ahal/DigitalGlitchFilter.h
index d31b9d5..0dd1ffb 100644
--- a/frc971/wpilib/ahal/DigitalGlitchFilter.h
+++ b/frc971/wpilib/ahal/DigitalGlitchFilter.h
@@ -39,7 +39,8 @@
void SetPeriodCycles(int fpga_cycles);
void SetPeriodNanoSeconds(uint64_t nanoseconds);
- // Sets the filter period such that it will work well for an input at a maxmium frequency of hz.
+ // Sets the filter period such that it will work well for an input at a
+ // maxmium frequency of hz.
void SetPeriodHz(int hz);
int GetPeriodCycles();
diff --git a/frc971/wpilib/ahal/DigitalInput.cc b/frc971/wpilib/ahal/DigitalInput.cc
index d922cae..9e97a5d 100644
--- a/frc971/wpilib/ahal/DigitalInput.cc
+++ b/frc971/wpilib/ahal/DigitalInput.cc
@@ -10,10 +10,10 @@
#include <limits>
#include <sstream>
+#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/DIO.h"
#include "hal/HAL.h"
#include "hal/Ports.h"
-#include "frc971/wpilib/ahal/WPIErrors.h"
using namespace frc;
diff --git a/frc971/wpilib/ahal/DigitalOutput.cc b/frc971/wpilib/ahal/DigitalOutput.cc
index ac00df3..389cfae 100644
--- a/frc971/wpilib/ahal/DigitalOutput.cc
+++ b/frc971/wpilib/ahal/DigitalOutput.cc
@@ -10,10 +10,10 @@
#include <limits>
#include <sstream>
+#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/DIO.h"
#include "hal/HAL.h"
#include "hal/Ports.h"
-#include "frc971/wpilib/ahal/WPIErrors.h"
using namespace frc;
@@ -80,10 +80,10 @@
}
/**
- * Gets the value being output from the Digital Output.
- *
- * @return the state of the digital output.
- */
+ * Gets the value being output from the Digital Output.
+ *
+ * @return the state of the digital output.
+ */
bool DigitalOutput::Get() const {
if (StatusIsFatal()) return false;
diff --git a/frc971/wpilib/ahal/DigitalOutput.h b/frc971/wpilib/ahal/DigitalOutput.h
index c6139ce..4d882c7 100644
--- a/frc971/wpilib/ahal/DigitalOutput.h
+++ b/frc971/wpilib/ahal/DigitalOutput.h
@@ -10,8 +10,8 @@
#include <memory>
#include <string>
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/DigitalSource.h"
+#include "hal/Types.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/DigitalSource.h b/frc971/wpilib/ahal/DigitalSource.h
index f5ece9c..48fa26e 100644
--- a/frc971/wpilib/ahal/DigitalSource.h
+++ b/frc971/wpilib/ahal/DigitalSource.h
@@ -7,8 +7,8 @@
#pragma once
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/InterruptableSensorBase.h"
+#include "hal/Types.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/DriverStation.cc b/frc971/wpilib/ahal/DriverStation.cc
index 8762203..967ebb4 100644
--- a/frc971/wpilib/ahal/DriverStation.cc
+++ b/frc971/wpilib/ahal/DriverStation.cc
@@ -13,11 +13,12 @@
#include <string_view>
#include "FRC_NetworkCommunication/FRCComm.h"
+#include "wpi/SmallString.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/HAL.h"
#include "hal/Power.h"
-#include "wpi/SmallString.h"
using namespace frc;
diff --git a/frc971/wpilib/ahal/DriverStation.h b/frc971/wpilib/ahal/DriverStation.h
index 8bcdcf1..cd520f8 100644
--- a/frc971/wpilib/ahal/DriverStation.h
+++ b/frc971/wpilib/ahal/DriverStation.h
@@ -9,14 +9,14 @@
#include <atomic>
// #include <condition_variable>
-#include <memory>
#include <functional>
+#include <memory>
#include <string>
#include <string_view>
#include <thread>
-#include "hal/DriverStation.h"
#include "frc971/wpilib/ahal/SensorBase.h"
+#include "hal/DriverStation.h"
namespace frc {
@@ -33,8 +33,10 @@
static DriverStation &GetInstance();
static void ReportError(const std::string_view &error);
static void ReportWarning(const std::string_view &error);
- static void ReportError(bool is_error, int code, const std::string_view &error,
- const std::string_view &location, const std::string_view &stack);
+ static void ReportError(bool is_error, int code,
+ const std::string_view &error,
+ const std::string_view &location,
+ const std::string_view &stack);
static const int kJoystickPorts = 6;
diff --git a/frc971/wpilib/ahal/DutyCycle.cc b/frc971/wpilib/ahal/DutyCycle.cc
index b400cf3..f795f78 100644
--- a/frc971/wpilib/ahal/DutyCycle.cc
+++ b/frc971/wpilib/ahal/DutyCycle.cc
@@ -8,8 +8,8 @@
#include "frc971/wpilib/ahal/DutyCycle.h"
#include <hal/DutyCycle.h>
-#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
+#include <hal/HAL.h>
#include "frc971/wpilib/ahal/Base.h"
#include "frc971/wpilib/ahal/DigitalSource.h"
@@ -17,7 +17,7 @@
using namespace frc;
-DutyCycle::DutyCycle(DigitalSource* source)
+DutyCycle::DutyCycle(DigitalSource *source)
: m_source{source, NullDeleter<DigitalSource>()} {
if (m_source == nullptr) {
wpi_setWPIError(NullParameter);
@@ -26,7 +26,7 @@
}
}
-DutyCycle::DutyCycle(DigitalSource& source)
+DutyCycle::DutyCycle(DigitalSource &source)
: m_source{&source, NullDeleter<DigitalSource>()} {
InitDutyCycle();
}
diff --git a/frc971/wpilib/ahal/DutyCycle.h b/frc971/wpilib/ahal/DutyCycle.h
index 88d6a54..3f99d94 100644
--- a/frc971/wpilib/ahal/DutyCycle.h
+++ b/frc971/wpilib/ahal/DutyCycle.h
@@ -7,10 +7,10 @@
#pragma once
-#include <memory>
-
#include <hal/Types.h>
+#include <memory>
+
namespace frc {
class DigitalSource;
class AnalogTrigger;
@@ -41,7 +41,7 @@
*
* @param source The DigitalSource to use.
*/
- explicit DutyCycle(DigitalSource& source);
+ explicit DutyCycle(DigitalSource &source);
/**
* Constructs a DutyCycle input from a DigitalSource input.
*
@@ -49,7 +49,7 @@
*
* @param source The DigitalSource to use.
*/
- explicit DutyCycle(DigitalSource* source);
+ explicit DutyCycle(DigitalSource *source);
/**
* Constructs a DutyCycle input from a DigitalSource input.
*
@@ -64,8 +64,8 @@
*/
virtual ~DutyCycle();
- DutyCycle(DutyCycle&&) = default;
- DutyCycle& operator=(DutyCycle&&) = default;
+ DutyCycle(DutyCycle &&) = default;
+ DutyCycle &operator=(DutyCycle &&) = default;
/**
* Get the frequency of the duty cycle signal.
diff --git a/frc971/wpilib/ahal/Encoder.cc b/frc971/wpilib/ahal/Encoder.cc
index 417792d..76a7163 100644
--- a/frc971/wpilib/ahal/Encoder.cc
+++ b/frc971/wpilib/ahal/Encoder.cc
@@ -7,9 +7,9 @@
#include "frc971/wpilib/ahal/Encoder.h"
-#include "hal/HAL.h"
#include "frc971/wpilib/ahal/DigitalInput.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
+#include "hal/HAL.h"
using namespace frc;
diff --git a/frc971/wpilib/ahal/ErrorBase.h b/frc971/wpilib/ahal/ErrorBase.h
index f0dfe3e..ef1dd5d 100644
--- a/frc971/wpilib/ahal/ErrorBase.h
+++ b/frc971/wpilib/ahal/ErrorBase.h
@@ -12,42 +12,42 @@
#include <wpi/mutex.h>
// Forward declared manually to avoid needing to pull in entire HAL header.
-extern "C" const char* HAL_GetErrorMessage(int32_t code);
+extern "C" const char *HAL_GetErrorMessage(int32_t code);
#define wpi_setErrnoErrorWithContext(context) \
this->SetErrnoError((context), __FILE__, __FUNCTION__, __LINE__)
#define wpi_setErrnoError() wpi_setErrnoErrorWithContext("")
-#define wpi_setImaqErrorWithContext(code, context) \
- do { \
+#define wpi_setImaqErrorWithContext(code, context) \
+ do { \
} while (0)
-#define wpi_setErrorWithContext(code, context) \
- do { \
+#define wpi_setErrorWithContext(code, context) \
+ do { \
} while (0)
-#define wpi_setErrorWithContextRange(code, min, max, req, context) \
- do { \
+#define wpi_setErrorWithContextRange(code, min, max, req, context) \
+ do { \
} while (0)
-#define wpi_setHALError(code) \
- do { \
+#define wpi_setHALError(code) \
+ do { \
} while (0)
-#define wpi_setHALErrorWithRange(code, min, max, req) \
- do { \
+#define wpi_setHALErrorWithRange(code, min, max, req) \
+ do { \
} while (0)
#define wpi_setError(code) wpi_setErrorWithContext(code, "")
-#define wpi_setStaticErrorWithContext(object, code, context) \
- do { \
+#define wpi_setStaticErrorWithContext(object, code, context) \
+ do { \
} while (0)
#define wpi_setStaticError(object, code) \
wpi_setStaticErrorWithContext(object, code, "")
-#define wpi_setGlobalErrorWithContext(code, context) \
- do { \
+#define wpi_setGlobalErrorWithContext(code, context) \
+ do { \
} while (0)
-#define wpi_setGlobalHALError(code) \
- do { \
+#define wpi_setGlobalHALError(code) \
+ do { \
} while (0)
#define wpi_setGlobalError(code) wpi_setGlobalErrorWithContext(code, "")
diff --git a/frc971/wpilib/ahal/InterruptableSensorBase.cc b/frc971/wpilib/ahal/InterruptableSensorBase.cc
index 59eb962..06ee513 100644
--- a/frc971/wpilib/ahal/InterruptableSensorBase.cc
+++ b/frc971/wpilib/ahal/InterruptableSensorBase.cc
@@ -7,8 +7,9 @@
#include "frc971/wpilib/ahal/InterruptableSensorBase.h"
-#include "frc971/wpilib/ahal/WPIErrors.h"
#include "glog/logging.h"
+
+#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/HAL.h"
using namespace frc;
diff --git a/frc971/wpilib/ahal/PWM.cc b/frc971/wpilib/ahal/PWM.cc
index 7184643..3c42bc4 100644
--- a/frc971/wpilib/ahal/PWM.cc
+++ b/frc971/wpilib/ahal/PWM.cc
@@ -6,12 +6,13 @@
/*----------------------------------------------------------------------------*/
#include "hal/PWM.h"
-#include "frc971/wpilib/ahal/PWM.h"
#include <sstream>
-#include "frc971/wpilib/ahal/WPIErrors.h"
#include "glog/logging.h"
+
+#include "frc971/wpilib/ahal/PWM.h"
+#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/HAL.h"
#include "hal/Ports.h"
diff --git a/frc971/wpilib/ahal/PWM.h b/frc971/wpilib/ahal/PWM.h
index c6e7a25..5c13d35 100644
--- a/frc971/wpilib/ahal/PWM.h
+++ b/frc971/wpilib/ahal/PWM.h
@@ -10,8 +10,8 @@
#include <memory>
#include <string>
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/SensorBase.h"
+#include "hal/Types.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/PowerDistributionPanel.cc b/frc971/wpilib/ahal/PowerDistributionPanel.cc
index 39087fb..e9487e7 100644
--- a/frc971/wpilib/ahal/PowerDistributionPanel.cc
+++ b/frc971/wpilib/ahal/PowerDistributionPanel.cc
@@ -9,10 +9,10 @@
#include <sstream>
-#include "hal/HAL.h"
-#include "hal/PowerDistribution.h"
-#include "hal/Ports.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
+#include "hal/HAL.h"
+#include "hal/Ports.h"
+#include "hal/PowerDistribution.h"
using namespace frc;
#define WPI_LIB_FATAL_ERROR(tag, msg)
diff --git a/frc971/wpilib/ahal/PowerDistributionPanel.h b/frc971/wpilib/ahal/PowerDistributionPanel.h
index dc80158..7471a78 100644
--- a/frc971/wpilib/ahal/PowerDistributionPanel.h
+++ b/frc971/wpilib/ahal/PowerDistributionPanel.h
@@ -7,11 +7,11 @@
#pragma once
+#include <hal/Types.h>
+
#include <memory>
#include <string>
-#include <hal/Types.h>
-
#include "frc971/wpilib/ahal/SensorBase.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/Relay.cc b/frc971/wpilib/ahal/Relay.cc
index 51241be..13aa13a 100644
--- a/frc971/wpilib/ahal/Relay.cc
+++ b/frc971/wpilib/ahal/Relay.cc
@@ -6,13 +6,13 @@
/*----------------------------------------------------------------------------*/
#include "hal/Relay.h"
-#include "frc971/wpilib/ahal/Relay.h"
#include <sstream>
+#include "frc971/wpilib/ahal/Relay.h"
+#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/HAL.h"
#include "hal/Ports.h"
-#include "frc971/wpilib/ahal/WPIErrors.h"
using namespace frc;
@@ -51,7 +51,8 @@
}
if (m_direction == kBothDirections || m_direction == kReverseOnly) {
int32_t status = 0;
- m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, nullptr, &status);
+ m_reverseHandle =
+ HAL_InitializeRelayPort(portHandle, false, nullptr, &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(),
channel, HAL_GetErrorMessage(status));
diff --git a/frc971/wpilib/ahal/Relay.h b/frc971/wpilib/ahal/Relay.h
index 389947c..0eb10ca 100644
--- a/frc971/wpilib/ahal/Relay.h
+++ b/frc971/wpilib/ahal/Relay.h
@@ -10,8 +10,8 @@
#include <memory>
#include <string>
-#include "hal/Types.h"
#include "frc971/wpilib/ahal/SensorBase.h"
+#include "hal/Types.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/RobotBase.cc b/frc971/wpilib/ahal/RobotBase.cc
index 3cc39df..3640191 100644
--- a/frc971/wpilib/ahal/RobotBase.cc
+++ b/frc971/wpilib/ahal/RobotBase.cc
@@ -9,9 +9,9 @@
#include <cstdio>
-#include "hal/HAL.h"
#include "frc971/wpilib/ahal/DriverStation.h"
#include "frc971/wpilib/ahal/WPILibVersion.h"
+#include "hal/HAL.h"
using namespace frc;
diff --git a/frc971/wpilib/ahal/RobotBase.h b/frc971/wpilib/ahal/RobotBase.h
index 5b4ce5b..4cb3d8a 100644
--- a/frc971/wpilib/ahal/RobotBase.h
+++ b/frc971/wpilib/ahal/RobotBase.h
@@ -12,8 +12,8 @@
#include <thread>
#include "aos/realtime.h"
-#include "hal/HAL.h"
#include "frc971/wpilib/ahal/Base.h"
+#include "hal/HAL.h"
namespace frc {
diff --git a/frc971/wpilib/ahal/SPI.cc b/frc971/wpilib/ahal/SPI.cc
index 8568210..874858b 100644
--- a/frc971/wpilib/ahal/SPI.cc
+++ b/frc971/wpilib/ahal/SPI.cc
@@ -8,13 +8,14 @@
#include "frc971/wpilib/ahal/SPI.h"
#include <hal/SPI.h>
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
#include <cstring>
#include <utility>
#include "absl/types/span.h"
+#include <wpi/SmallVector.h>
+#include <wpi/mutex.h>
+
#include "frc971/wpilib/ahal/DigitalSource.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
diff --git a/frc971/wpilib/ahal/SPI.h b/frc971/wpilib/ahal/SPI.h
index 542db80..6151ded 100644
--- a/frc971/wpilib/ahal/SPI.h
+++ b/frc971/wpilib/ahal/SPI.h
@@ -8,13 +8,13 @@
#pragma once
#include <hal/SPITypes.h>
-#include <wpi/deprecated.h>
#include <cstdint>
#include <memory>
#include <span>
#include "absl/types/span.h"
+#include <wpi/deprecated.h>
namespace frc {
diff --git a/frc971/wpilib/ahal/SensorBase.cc b/frc971/wpilib/ahal/SensorBase.cc
index 111e4c6..4716187 100644
--- a/frc971/wpilib/ahal/SensorBase.cc
+++ b/frc971/wpilib/ahal/SensorBase.cc
@@ -8,6 +8,7 @@
#include "frc971/wpilib/ahal/SensorBase.h"
#include "FRC_NetworkCommunication/LoadOut.h"
+
#include "frc971/wpilib/ahal/WPIErrors.h"
#include "hal/AnalogInput.h"
#include "hal/AnalogOutput.h"
diff --git a/frc971/wpilib/ahal/TalonFX.cc b/frc971/wpilib/ahal/TalonFX.cc
index fe29089..ccd30db 100644
--- a/frc971/wpilib/ahal/TalonFX.cc
+++ b/frc971/wpilib/ahal/TalonFX.cc
@@ -39,4 +39,3 @@
HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
}
-
diff --git a/frc971/wpilib/buffered_pcm.cc b/frc971/wpilib/buffered_pcm.cc
index 8f5a3d9..f356722 100644
--- a/frc971/wpilib/buffered_pcm.cc
+++ b/frc971/wpilib/buffered_pcm.cc
@@ -3,9 +3,9 @@
#include <cinttypes>
#include "aos/logging/logging.h"
+#include "hal/CTREPCM.h"
#include "hal/HAL.h"
#include "hal/Ports.h"
-#include "hal/CTREPCM.h"
namespace frc971 {
namespace wpilib {
diff --git a/frc971/wpilib/buffered_pcm.h b/frc971/wpilib/buffered_pcm.h
index 033ded6..f743371 100644
--- a/frc971/wpilib/buffered_pcm.h
+++ b/frc971/wpilib/buffered_pcm.h
@@ -1,10 +1,10 @@
#ifndef FRC971_WPILIB_BUFFERED_PCM_H_
#define FRC971_WPILIB_BUFFERED_PCM_H_
-#include <memory>
-
#include <hal/HAL.h>
+#include <memory>
+
#include "frc971/wpilib/buffered_solenoid.h"
namespace frc971 {
diff --git a/frc971/wpilib/buffered_solenoid.cc b/frc971/wpilib/buffered_solenoid.cc
index c07a7cd..a4b337e 100644
--- a/frc971/wpilib/buffered_solenoid.cc
+++ b/frc971/wpilib/buffered_solenoid.cc
@@ -5,9 +5,7 @@
namespace frc971 {
namespace wpilib {
-void BufferedSolenoid::Set(bool value) {
- pcm_->DoSet(number_, value);
-}
+void BufferedSolenoid::Set(bool value) { pcm_->DoSet(number_, value); }
} // namespace wpilib
} // namespace frc971
diff --git a/frc971/wpilib/dma.cc b/frc971/wpilib/dma.cc
index a2b2d20..cff1ac1 100644
--- a/frc971/wpilib/dma.cc
+++ b/frc971/wpilib/dma.cc
@@ -4,10 +4,11 @@
#include <cstring>
#include <type_traits>
+#include "glog/logging.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/DigitalSource.h"
#include "frc971/wpilib/ahal/Encoder.h"
-#include "glog/logging.h"
#include "hal/HAL.h"
// Interface to the roboRIO FPGA's DMA features.
diff --git a/frc971/wpilib/drivetrain_writer.h b/frc971/wpilib/drivetrain_writer.h
index c27638f..195b5a3 100644
--- a/frc971/wpilib/drivetrain_writer.h
+++ b/frc971/wpilib/drivetrain_writer.h
@@ -2,7 +2,6 @@
#define FRC971_WPILIB_DRIVETRAIN_WRITER_H_
#include "aos/commonmath.h"
-
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/wpilib/ahal/PWM.h"
#include "frc971/wpilib/loop_output_handler.h"
diff --git a/frc971/wpilib/encoder_and_potentiometer.h b/frc971/wpilib/encoder_and_potentiometer.h
index 5089620..7ee85e1 100644
--- a/frc971/wpilib/encoder_and_potentiometer.h
+++ b/frc971/wpilib/encoder_and_potentiometer.h
@@ -7,12 +7,10 @@
#include "aos/macros.h"
#include "aos/time/time.h"
-
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalSource.h"
#include "frc971/wpilib/ahal/Encoder.h"
-
#include "frc971/wpilib/dma.h"
#include "frc971/wpilib/dma_edge_counting.h"
diff --git a/frc971/wpilib/fpga_time_conversion.h b/frc971/wpilib/fpga_time_conversion.h
index 9862918..51cc7a9 100644
--- a/frc971/wpilib/fpga_time_conversion.h
+++ b/frc971/wpilib/fpga_time_conversion.h
@@ -1,11 +1,12 @@
#ifndef FRC971_WPILIB_FPGA_TIME_CONVERSION_H_
#define FRC971_WPILIB_FPGA_TIME_CONVERSION_H_
-#include <optional>
#include <chrono>
+#include <optional>
+
+#include "glog/logging.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
#include "hal/cpp/fpga_clock.h"
namespace frc971 {
diff --git a/frc971/wpilib/interrupt_edge_counting.h b/frc971/wpilib/interrupt_edge_counting.h
index dd48f2d..5ea8df5 100644
--- a/frc971/wpilib/interrupt_edge_counting.h
+++ b/frc971/wpilib/interrupt_edge_counting.h
@@ -9,7 +9,6 @@
#include "aos/logging/logging.h"
#include "aos/macros.h"
#include "aos/stl_mutex/stl_mutex.h"
-
#include "frc971/wpilib/ahal/DigitalInput.h"
#include "frc971/wpilib/ahal/Encoder.h"
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index bb99dc8..f8bfb5a 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -128,7 +128,8 @@
last_monotonic_now_ = monotonic_now;
monotonic_clock::time_point last_tick_timepoint = GetPWMStartTime();
- VLOG(1) << "Start time " << last_tick_timepoint << " period " << period_.count();
+ VLOG(1) << "Start time " << last_tick_timepoint << " period "
+ << period_.count();
if (last_tick_timepoint == monotonic_clock::min_time) {
return;
}
@@ -137,7 +138,8 @@
((monotonic_now - chrono::microseconds(FLAGS_pwm_offset) -
last_tick_timepoint) /
period_) *
- period_ + chrono::microseconds(FLAGS_pwm_offset);
+ period_ +
+ chrono::microseconds(FLAGS_pwm_offset);
VLOG(1) << "Now " << monotonic_now << " tick " << last_tick_timepoint;
// If it's over 1/2 of a period back in time, that's wrong. Move it
// forwards to now.
@@ -149,8 +151,7 @@
// after the falling edge. This gives us a little bit of buffer for
// errors in waking up. The PWM cycle starts at the falling edge of the
// PWM pulse.
- const auto next_time =
- last_tick_timepoint + period_;
+ const auto next_time = last_tick_timepoint + period_;
timer_handler_->Setup(next_time, period_);
}
diff --git a/frc971/zeroing/absolute_and_absolute_encoder_test.cc b/frc971/zeroing/absolute_and_absolute_encoder_test.cc
index 59b421a..b28f637 100644
--- a/frc971/zeroing/absolute_and_absolute_encoder_test.cc
+++ b/frc971/zeroing/absolute_and_absolute_encoder_test.cc
@@ -1,10 +1,11 @@
#include "frc971/zeroing/absolute_and_absolute_encoder.h"
-#include "frc971/zeroing/zeroing_test.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "frc971/zeroing/zeroing_test.h"
+
namespace frc971 {
namespace zeroing {
namespace testing {
diff --git a/frc971/zeroing/absolute_encoder.cc b/frc971/zeroing/absolute_encoder.cc
index d0cd0d9..aa68acf 100644
--- a/frc971/zeroing/absolute_encoder.cc
+++ b/frc971/zeroing/absolute_encoder.cc
@@ -3,9 +3,10 @@
#include <cmath>
#include <numeric>
+#include "glog/logging.h"
+
#include "aos/containers/error_list.h"
#include "frc971/zeroing/wrap.h"
-#include "glog/logging.h"
namespace frc971 {
namespace zeroing {
diff --git a/frc971/zeroing/absolute_encoder_test.cc b/frc971/zeroing/absolute_encoder_test.cc
index ce485eb..fdc1fa0 100644
--- a/frc971/zeroing/absolute_encoder_test.cc
+++ b/frc971/zeroing/absolute_encoder_test.cc
@@ -1,9 +1,10 @@
#include "frc971/zeroing/absolute_encoder.h"
-#include "frc971/zeroing/zeroing_test.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "frc971/zeroing/zeroing_test.h"
+
namespace frc971 {
namespace zeroing {
namespace testing {
diff --git a/frc971/zeroing/averager_test.cc b/frc971/zeroing/averager_test.cc
index 9f8f727..50eac72 100644
--- a/frc971/zeroing/averager_test.cc
+++ b/frc971/zeroing/averager_test.cc
@@ -1,6 +1,7 @@
-#include "gtest/gtest.h"
#include "frc971/zeroing/averager.h"
+#include "gtest/gtest.h"
+
namespace frc971 {
namespace zeroing {
diff --git a/frc971/zeroing/imu_zeroer.cc b/frc971/zeroing/imu_zeroer.cc
index 0872b1c..c06ed43 100644
--- a/frc971/zeroing/imu_zeroer.cc
+++ b/frc971/zeroing/imu_zeroer.cc
@@ -80,7 +80,7 @@
last_gyro_sample_ << values.gyro_x(), values.gyro_y(), values.gyro_z();
gyro_averager_.AddData(last_gyro_sample_);
last_accel_sample_ << values.accelerometer_x(), values.accelerometer_y(),
- values.accelerometer_z();
+ values.accelerometer_z();
accel_averager_.AddData(last_accel_sample_);
return true;
}
diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index 7fad58c..2a5036d 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -48,14 +48,14 @@
// Max variation (difference between the maximum and minimum value) in a
// kSamplesToAverage range before we allow using the samples for zeroing.
// These values are currently based on looking at results from the ADIS16448.
- static constexpr double kGyroMaxVariation = 0.02; // rad / sec
+ static constexpr double kGyroMaxVariation = 0.02; // rad / sec
// Maximum magnitude we allow the gyro zero to have--this is used to prevent
// us from zeroing the gyro if we just happen to be spinning at a very
// consistent non-zero rate. Currently this is only plausible in simulation.
static constexpr double kGyroMaxZeroingMagnitude = 0.1; // rad / sec
// Max variation in the range before we consider the accelerometer readings to
// be steady.
- static constexpr double kAccelMaxVariation = 0.05; // g's
+ static constexpr double kAccelMaxVariation = 0.05; // g's
// If we ever are able to rezero and get a zero that is more than
// kGyroFaultVariation away from the original zeroing, fault.
static constexpr double kGyroFaultVariation = 0.05; // rad / sec
diff --git a/frc971/zeroing/imu_zeroer_test.cc b/frc971/zeroing/imu_zeroer_test.cc
index deff1b6..566a7b8 100644
--- a/frc971/zeroing/imu_zeroer_test.cc
+++ b/frc971/zeroing/imu_zeroer_test.cc
@@ -1,7 +1,9 @@
-#include "aos/flatbuffers.h"
-#include "gtest/gtest.h"
#include "frc971/zeroing/imu_zeroer.h"
+#include "gtest/gtest.h"
+
+#include "aos/flatbuffers.h"
+
namespace frc971::zeroing {
static constexpr int kMinSamplesToZero =
@@ -113,7 +115,8 @@
(static_cast<double>(ii) / (kMinSamplesToZero - 1) - 0.5) * 0.001;
zeroer.InsertAndProcessMeasurement(
MakeMeasurement({0.01 + offset, 0.02 + offset, 0.03 + offset},
- {4 + offset, 5 + offset, 6 + offset}).message());
+ {4 + offset, 5 + offset, 6 + offset})
+ .message());
}
ASSERT_TRUE(zeroer.Zeroed());
ASSERT_FALSE(zeroer.Faulted());
@@ -143,7 +146,8 @@
(static_cast<double>(ii) / (kMinSamplesToZero - 1) - 0.5) * 1.0;
zeroer.InsertAndProcessMeasurement(
MakeMeasurement({0.01 + offset, 0.02 + offset, 0.03 + offset},
- {4 + offset, 5 + offset, 6 + offset}).message());
+ {4 + offset, 5 + offset, 6 + offset})
+ .message());
}
ASSERT_FALSE(zeroer.Zeroed());
ASSERT_FALSE(zeroer.Faulted());
diff --git a/frc971/zeroing/pot_and_absolute_encoder.cc b/frc971/zeroing/pot_and_absolute_encoder.cc
index 32c4f60..f62b393 100644
--- a/frc971/zeroing/pot_and_absolute_encoder.cc
+++ b/frc971/zeroing/pot_and_absolute_encoder.cc
@@ -3,9 +3,10 @@
#include <cmath>
#include <numeric>
+#include "glog/logging.h"
+
#include "aos/containers/error_list.h"
#include "frc971/zeroing/wrap.h"
-#include "glog/logging.h"
namespace frc971 {
namespace zeroing {
diff --git a/frc971/zeroing/pot_and_absolute_encoder.h b/frc971/zeroing/pot_and_absolute_encoder.h
index 2ff141f..d250a50 100644
--- a/frc971/zeroing/pot_and_absolute_encoder.h
+++ b/frc971/zeroing/pot_and_absolute_encoder.h
@@ -3,8 +3,9 @@
#include <vector>
-#include "aos/containers/error_list.h"
#include "flatbuffers/flatbuffers.h"
+
+#include "aos/containers/error_list.h"
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
diff --git a/frc971/zeroing/pot_and_absolute_encoder_test.cc b/frc971/zeroing/pot_and_absolute_encoder_test.cc
index 1784fed..5c05cc1 100644
--- a/frc971/zeroing/pot_and_absolute_encoder_test.cc
+++ b/frc971/zeroing/pot_and_absolute_encoder_test.cc
@@ -1,9 +1,10 @@
#include "frc971/zeroing/pot_and_absolute_encoder.h"
-#include "frc971/zeroing/zeroing_test.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include "frc971/zeroing/zeroing_test.h"
+
namespace frc971 {
namespace zeroing {
namespace testing {
diff --git a/frc971/zeroing/pot_and_index.cc b/frc971/zeroing/pot_and_index.cc
index 7c713d9..0f1e9e0 100644
--- a/frc971/zeroing/pot_and_index.cc
+++ b/frc971/zeroing/pot_and_index.cc
@@ -78,8 +78,8 @@
// If there are no index pulses to use or we don't have enough samples yet to
// have a well-filtered starting position then we use the filtered value as
// our best guess.
- if (!zeroed_ &&
- (info.index_pulses() == last_used_index_pulse_count_ || !offset_ready())) {
+ if (!zeroed_ && (info.index_pulses() == last_used_index_pulse_count_ ||
+ !offset_ready())) {
offset_ = start_average;
} else if (!zeroed_ || last_used_index_pulse_count_ != info.index_pulses()) {
// Note the accurate start position and the current index pulse count so
diff --git a/frc971/zeroing/relative_encoder_test.cc b/frc971/zeroing/relative_encoder_test.cc
index a29ba4b..6256fe7 100644
--- a/frc971/zeroing/relative_encoder_test.cc
+++ b/frc971/zeroing/relative_encoder_test.cc
@@ -1,6 +1,7 @@
+#include "gtest/gtest.h"
+
#include "frc971/zeroing/zeroing.h"
#include "frc971/zeroing/zeroing_test.h"
-#include "gtest/gtest.h"
namespace frc971 {
namespace zeroing {
diff --git a/frc971/zeroing/unwrap_test.cc b/frc971/zeroing/unwrap_test.cc
index d1e6db9..b71c8b6 100644
--- a/frc971/zeroing/unwrap_test.cc
+++ b/frc971/zeroing/unwrap_test.cc
@@ -1,6 +1,7 @@
-#include "frc971/zeroing/wrap.h"
#include "gtest/gtest.h"
+#include "frc971/zeroing/wrap.h"
+
namespace frc971 {
namespace zeroing {
namespace testing {
diff --git a/frc971/zeroing/wrap_test.cc b/frc971/zeroing/wrap_test.cc
index b5f9100..6597e03 100644
--- a/frc971/zeroing/wrap_test.cc
+++ b/frc971/zeroing/wrap_test.cc
@@ -34,8 +34,8 @@
break;
}
}
- EXPECT_TRUE(found_interval) << ": Wrap(" << i << ", " << j
- << ") = " << wrapped_val;
+ EXPECT_TRUE(found_interval)
+ << ": Wrap(" << i << ", " << j << ") = " << wrapped_val;
}
}
}
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 028194c..f7b52a6 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -7,6 +7,7 @@
#include <vector>
#include "flatbuffers/flatbuffers.h"
+
#include "frc971/constants.h"
#include "frc971/control_loops/control_loops_generated.h"
diff --git a/frc971/zeroing/zeroing_test.h b/frc971/zeroing/zeroing_test.h
index 9b7ba95..cadbe6c 100644
--- a/frc971/zeroing/zeroing_test.h
+++ b/frc971/zeroing/zeroing_test.h
@@ -1,8 +1,8 @@
-#include "frc971/zeroing/zeroing.h"
+#include "gtest/gtest.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/position_sensor_sim.h"
-#include "gtest/gtest.h"
+#include "frc971/zeroing/zeroing.h"
namespace frc971 {
namespace zeroing {
diff --git a/motors/algorithms.h b/motors/algorithms.h
index c67383b..20dcbe8 100644
--- a/motors/algorithms.h
+++ b/motors/algorithms.h
@@ -2,6 +2,7 @@
#define MOTORS_ALGORITHMS_H_
#include <stdint.h>
+
#include <array>
namespace frc971 {
diff --git a/motors/algorithms_test.cc b/motors/algorithms_test.cc
index 18b89c3..bdf51d7 100644
--- a/motors/algorithms_test.cc
+++ b/motors/algorithms_test.cc
@@ -1,6 +1,7 @@
#include "motors/algorithms.h"
#include <inttypes.h>
+
#include <cmath>
#include "gtest/gtest.h"
diff --git a/motors/big/medium_salsa.cc b/motors/big/medium_salsa.cc
index 6c3f339..ab0f3d6 100644
--- a/motors/big/medium_salsa.cc
+++ b/motors/big/medium_salsa.cc
@@ -1,10 +1,9 @@
-#include "motors/core/kinetis.h"
-
#include <stdio.h>
#include <atomic>
#include "motors/big/motor_controls.h"
+#include "motors/core/kinetis.h"
#include "motors/core/time.h"
#include "motors/motor.h"
#include "motors/peripheral/adc.h"
@@ -133,9 +132,10 @@
}
const BalancedReadings balanced = BalanceReadings(to_balance);
- global_motor.load(::std::memory_order_relaxed)->CurrentInterrupt(
- balanced,
- global_motor.load(::std::memory_order_relaxed)->wrapped_encoder());
+ global_motor.load(::std::memory_order_relaxed)
+ ->CurrentInterrupt(
+ balanced,
+ global_motor.load(::std::memory_order_relaxed)->wrapped_encoder());
}
} // extern "C"
@@ -210,8 +210,8 @@
// value we store because writing anything resets it to CNTIN (ie 0).
"str %[scratch], [%[cnt]]\n"
: [scratch] "=&l"(scratch)
- : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOE_PDIR, 24)),
- [cnt] "l"(&FTM1->CNT));
+ : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOE_PDIR, 24)), [cnt] "l"(
+ &FTM1->CNT));
__enable_irq();
#endif
}
@@ -290,7 +290,7 @@
FTM0_EXTTRIG = FTM_EXTTRIG_INITTRIGEN;
// Don't let any memory accesses sneak past here, because we actually
// need everything to be starting up.
- __asm__("" :: : "memory");
+ __asm__("" ::: "memory");
// Give everything a chance to get going.
delay(100);
diff --git a/motors/big/motor_controls.cc b/motors/big/motor_controls.cc
index abc71e8..db9878d 100644
--- a/motors/big/motor_controls.cc
+++ b/motors/big/motor_controls.cc
@@ -166,7 +166,8 @@
const ::Eigen::Matrix<float, 3, 1> measured_current =
(::Eigen::Matrix<float, 3, 1>() << scale_current_reading(raw_currents[0]),
scale_current_reading(raw_currents[1]),
- scale_current_reading(raw_currents[2])).finished();
+ scale_current_reading(raw_currents[2]))
+ .finished();
const ComplexMatrix<3, 1> E1 =
E1Unrotated_ *
diff --git a/motors/big/motor_controls.h b/motors/big/motor_controls.h
index 5c59ef1..8aae5d1 100644
--- a/motors/big/motor_controls.h
+++ b/motors/big/motor_controls.h
@@ -4,11 +4,11 @@
#include <array>
#include <complex>
+#include "Eigen/Dense"
+
#include "motors/math.h"
#include "motors/motor.h"
-#include "Eigen/Dense"
-
namespace frc971 {
namespace motors {
@@ -40,8 +40,8 @@
}
::std::array<float, 3> DoIteration(const float raw_currents[3],
- uint32_t theta,
- const float command_current) override;
+ uint32_t theta,
+ const float command_current) override;
int16_t Debug(uint32_t theta) override;
diff --git a/motors/button_board.cc b/motors/button_board.cc
index 0c0050b..fb17328 100644
--- a/motors/button_board.cc
+++ b/motors/button_board.cc
@@ -2,6 +2,7 @@
#include <inttypes.h>
#include <stdio.h>
+
#include <atomic>
#include <cmath>
@@ -150,8 +151,8 @@
((PERIPHERAL_BITBAND(GPIOA_PDIR, 12) << 0) |
(PERIPHERAL_BITBAND(GPIOD_PDIR, 0) << 1) |
(PERIPHERAL_BITBAND(GPIOB_PDIR, 17) << 2) |
- (PERIPHERAL_BITBAND(GPIOB_PDIR, 16) << 3) | (DecodeAnalog(report1[0]) << 4) |
- (DecodeAnalog(report1[1]) << 6)) ^
+ (PERIPHERAL_BITBAND(GPIOB_PDIR, 16) << 3) |
+ (DecodeAnalog(report1[0]) << 4) | (DecodeAnalog(report1[1]) << 6)) ^
0x0f;
report1[5] = (DecodeAnalog(report1[2])) | (DecodeAnalog(report1[3]) << 2);
diff --git a/motors/core/reg_debug.h b/motors/core/reg_debug.h
index 418c391..8edddf6 100644
--- a/motors/core/reg_debug.h
+++ b/motors/core/reg_debug.h
@@ -1,8 +1,8 @@
#ifndef MOTORS_CORE_REG_DEBUG_H_
#define MOTORS_CORE_REG_DEBUG_H_
-#include <stdint.h>
#include <stddef.h>
+#include <stdint.h>
// Cortex-M4 always has 32 registers according to its Technical Reference
// Manual.
diff --git a/motors/core/semihosting.h b/motors/core/semihosting.h
index af2fa4b..3b7ba46 100644
--- a/motors/core/semihosting.h
+++ b/motors/core/semihosting.h
@@ -26,16 +26,12 @@
uint32_t handle;
// Returns 0 if it succeeds, or -1 if not.
- int Execute() {
- return integer_operation(0x02, this);
- }
+ int Execute() { return integer_operation(0x02, this); }
};
struct Errno {
// Returns the current errno value.
- int Execute() {
- return integer_operation(0x13, nullptr);
- }
+ int Execute() { return integer_operation(0x13, nullptr); }
};
struct FileLength {
@@ -43,9 +39,7 @@
uint32_t handle;
// Returns the current length of the file or -1.
- int Execute() {
- return integer_operation(0x0C, this);
- }
+ int Execute() { return integer_operation(0x0C, this); }
};
struct GetCommandLine {
@@ -62,9 +56,7 @@
}
// Returns 0 if it succeeds, or -1 if not.
- int Execute() {
- return integer_operation(0x15, this);
- }
+ int Execute() { return integer_operation(0x15, this); }
};
struct IsTty {
@@ -73,9 +65,7 @@
// Returns 0 if it's a file, 1 if it's an interactive device, or something
// else otherwise.
- int Execute() {
- return integer_operation(0x09, this);
- }
+ int Execute() { return integer_operation(0x09, this); }
};
struct Open {
@@ -102,9 +92,7 @@
int name_length;
// Returns a non-zero file handle if it succeeds, or -1 if not.
- int Execute() {
- return integer_operation(0x01, this);
- }
+ int Execute() { return integer_operation(0x01, this); }
};
struct Read {
@@ -128,9 +116,7 @@
};
struct ReadCharacter {
- char Execute() {
- return integer_operation(0x07, nullptr);
- }
+ char Execute() { return integer_operation(0x07, nullptr); }
};
struct Seek {
@@ -140,16 +126,12 @@
uint32_t position;
// Returns 0 if it succeeds, or a negative value if not.
- int Execute() {
- return integer_operation(0x0A, this);
- }
+ int Execute() { return integer_operation(0x0A, this); }
};
struct RealtimeTime {
// Returns the number of seconds since 00:00 January 1, 1970.
- uint32_t Execute() {
- return integer_operation(0x11, nullptr);
- }
+ uint32_t Execute() { return integer_operation(0x11, nullptr); }
};
struct Write {
@@ -167,17 +149,13 @@
}
// Returns 0 if it succeeds, or the number of bytes NOT written.
- int Execute() {
- return integer_operation(0x05, this);
- }
+ int Execute() { return integer_operation(0x05, this); }
};
struct WriteDebugCharacter {
const char *character;
- void Execute() {
- integer_operation(0x03, this);
- }
+ void Execute() { integer_operation(0x03, this); }
};
struct WriteDebug {
diff --git a/motors/core/time.cc b/motors/core/time.cc
index 87f34f0..77814b3 100644
--- a/motors/core/time.cc
+++ b/motors/core/time.cc
@@ -7,7 +7,7 @@
namespace {
-template<int kMultiplier>
+template <int kMultiplier>
uint32_t do_time(void) {
__disable_irq();
uint32_t current = SYST_CVR;
diff --git a/motors/core/time.h b/motors/core/time.h
index d03cb10..a131d7f 100644
--- a/motors/core/time.h
+++ b/motors/core/time.h
@@ -6,8 +6,7 @@
// This whole file is deprecated. Use //aos/time instead.
#ifdef __cplusplus
-extern "C"
-{
+extern "C" {
#endif
// Returns the current number of nanoseconds. This will wrap naturally.
diff --git a/motors/fet12/fet12.cc b/motors/fet12/fet12.cc
index 93b7828..b6f2a45 100644
--- a/motors/fet12/fet12.cc
+++ b/motors/fet12/fet12.cc
@@ -1,10 +1,9 @@
-#include "motors/core/kinetis.h"
-
#include <inttypes.h>
#include <stdio.h>
#include <atomic>
+#include "motors/core/kinetis.h"
#include "motors/core/time.h"
#include "motors/fet12/motor_controls.h"
#include "motors/motor.h"
@@ -189,8 +188,8 @@
// value we store because writing anything resets it to CNTIN (ie 0).
"str %[scratch], [%[cnt]]\n"
: [scratch] "=&l"(scratch)
- : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOA_PDIR, 7)),
- [cnt] "l"(&FTM1->CNT));
+ : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOA_PDIR, 7)), [cnt] "l"(
+ &FTM1->CNT));
__enable_irq();
#endif
}
@@ -277,7 +276,7 @@
FTM0_EXTTRIG = FTM_EXTTRIG_INITTRIGEN;
// Don't let any memory accesses sneak past here, because we actually
// need everything to be starting up.
- __asm__("" :: : "memory");
+ __asm__("" ::: "memory");
// Give everything a chance to get going.
delay(100);
diff --git a/motors/fet12/fet12v2.cc b/motors/fet12/fet12v2.cc
index 3380631..b0a0acc 100644
--- a/motors/fet12/fet12v2.cc
+++ b/motors/fet12/fet12v2.cc
@@ -1,10 +1,9 @@
-#include "motors/core/kinetis.h"
-
#include <inttypes.h>
#include <stdio.h>
#include <atomic>
+#include "motors/core/kinetis.h"
#include "motors/core/time.h"
#include "motors/fet12/current_equalization.h"
#include "motors/fet12/motor_controls.h"
@@ -134,8 +133,7 @@
adc_dma->Reset();
const uint32_t wrapped_encoder =
global_motor.load(::std::memory_order_relaxed)->wrapped_encoder();
- const BalancedReadings balanced =
- BalanceSimpleReadings(decoupled);
+ const BalancedReadings balanced = BalanceSimpleReadings(decoupled);
#if 1
@@ -216,19 +214,18 @@
: static_cast<float>(kIcc);
const float throttle_limit = ::std::min(
kPeakCurrent,
- (-abs_bemf + ::std::sqrt(static_cast<float>(
- bemf * bemf +
- 4.0f * static_cast<float>(kR) * 1.5f *
- static_cast<float>(kVcc) * max_bat_cur))) /
+ (-abs_bemf +
+ ::std::sqrt(static_cast<float>(
+ bemf * bemf + 4.0f * static_cast<float>(kR) * 1.5f *
+ static_cast<float>(kVcc) * max_bat_cur))) /
(2.0f * 1.5f * static_cast<float>(kR)));
constexpr float kNegativeCurrent = 100.0f;
- float goal_current =
- -::std::min(
- ::std::max(filtered_throttle * (kPeakCurrent + kNegativeCurrent) -
- kNegativeCurrent,
- -throttle_limit),
- throttle_limit);
+ float goal_current = -::std::min(
+ ::std::max(filtered_throttle * (kPeakCurrent + kNegativeCurrent) -
+ kNegativeCurrent,
+ -throttle_limit),
+ throttle_limit);
if (!throttle_zeroed) {
goal_current = 0.0f;
@@ -242,8 +239,8 @@
}
}
- //float goal_current =
- //-::std::min(filtered_throttle * kPeakCurrent, throttle_limit);
+ // float goal_current =
+ //-::std::min(filtered_throttle * kPeakCurrent, throttle_limit);
const float overall_measured_current =
global_motor.load(::std::memory_order_relaxed)
->overall_measured_current();
@@ -254,8 +251,7 @@
const int16_t fuse_current_10 = static_cast<int16_t>(10.0f * fuse_current);
fuse_badness += 0.00002f * (fuse_current * fuse_current - fuse_badness);
- global_motor.load(::std::memory_order_relaxed)
- ->SetGoalCurrent(goal_current);
+ global_motor.load(::std::memory_order_relaxed)->SetGoalCurrent(goal_current);
global_motor.load(::std::memory_order_relaxed)
->CurrentInterrupt(balanced, wrapped_encoder);
@@ -278,11 +274,14 @@
global_debug_buffer.samples[buffer_size].est_omega =
global_motor.load(::std::memory_order_relaxed)->estimated_velocity();
global_debug_buffer.samples[buffer_size].commands[0] =
- global_motor.load(::std::memory_order_relaxed)->get_switching_points_cycles(0);
+ global_motor.load(::std::memory_order_relaxed)
+ ->get_switching_points_cycles(0);
global_debug_buffer.samples[buffer_size].commands[1] =
- global_motor.load(::std::memory_order_relaxed)->get_switching_points_cycles(1);
+ global_motor.load(::std::memory_order_relaxed)
+ ->get_switching_points_cycles(1);
global_debug_buffer.samples[buffer_size].commands[2] =
- global_motor.load(::std::memory_order_relaxed)->get_switching_points_cycles(2);
+ global_motor.load(::std::memory_order_relaxed)
+ ->get_switching_points_cycles(2);
global_debug_buffer.samples[buffer_size].commanded_currents[0] =
global_motor.load(::std::memory_order_relaxed)->i_goal(0);
global_debug_buffer.samples[buffer_size].commanded_currents[1] =
@@ -299,7 +298,8 @@
kNegativeCurrent,
0.0f);
global_debug_buffer.samples[buffer_size].fuse_badness = fuse_badness;
- global_debug_buffer.samples[buffer_size].cycles_since_start = cycles_since_start;
+ global_debug_buffer.samples[buffer_size].cycles_since_start =
+ cycles_since_start;
global_debug_buffer.size.fetch_add(1);
}
@@ -384,7 +384,6 @@
}
++i;
#endif
-
}
} // extern "C"
@@ -468,8 +467,8 @@
// value we store because writing anything resets it to CNTIN (ie 0).
"str %[scratch], [%[cnt]]\n"
: [scratch] "=&l"(scratch)
- : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOB_PDIR, 11)),
- [cnt] "l"(&FTM1->CNT));
+ : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOB_PDIR, 11)), [cnt] "l"(
+ &FTM1->CNT));
__enable_irq();
#endif
}
@@ -573,16 +572,15 @@
// This has to happen after messing with SYNCONF, and should happen after
// messing with various other things so the values can get flushed out of the
// buffers.
- FTM2->SYNC =
- FTM_SYNC_SWSYNC /* Flush everything out right now */ |
- FTM_SYNC_CNTMAX /* Load new values at the end of the cycle */;
+ FTM2->SYNC = FTM_SYNC_SWSYNC /* Flush everything out right now */ |
+ FTM_SYNC_CNTMAX /* Load new values at the end of the cycle */;
// Wait for the software synchronization to finish.
while (FTM2->SYNC & FTM_SYNC_SWSYNC) {
}
FTM2->SC = FTM_SC_CLKS(1) /* Use the system clock */ |
- FTM_SC_PS(0) /* Don't prescale the clock */;
+ FTM_SC_PS(0) /* Don't prescale the clock */;
// TODO:
- //FTM2->MODE &= ~FTM_MODE_WPDIS;
+ // FTM2->MODE &= ~FTM_MODE_WPDIS;
FTM2->EXTTRIG = FTM_EXTTRIG_CH0TRIG | FTM_EXTTRIG_CH1TRIG;
@@ -616,7 +614,7 @@
FTM0_EXTTRIG = FTM_EXTTRIG_INITTRIGEN;
// Don't let any memory accesses sneak past here, because we actually
// need everything to be starting up.
- __asm__("" :: : "memory");
+ __asm__("" ::: "memory");
// Give everything a chance to get going.
delay(100);
@@ -670,10 +668,9 @@
for (size_t i = 0; i < global_debug_buffer.samples.size(); ++i) {
const auto &sample = global_debug_buffer.samples[i];
#if 1
- printf("%u, %d, %d, %d, %u, %u, %u, %u\n", i,
- sample.currents[0], sample.currents[1], sample.currents[2],
- sample.commands[0], sample.commands[1], sample.commands[2],
- sample.position);
+ printf("%u, %d, %d, %d, %u, %u, %u, %u\n", i, sample.currents[0],
+ sample.currents[1], sample.currents[2], sample.commands[0],
+ sample.commands[1], sample.commands[2], sample.position);
#else
printf("%" PRIu16 ",%" PRIu16 ",%" PRIu16 ",%" PRId16 ",%" PRId16
",%" PRId16 "\n",
@@ -695,7 +692,7 @@
}
printf("Done dumping data\n");
} else {
- //const auto &sample = global_debug_buffer.samples.back();
+ // const auto &sample = global_debug_buffer.samples.back();
const DebugBuffer::Sample sample = global_debug_buffer.samples[0];
#if 1
printf("%" PRIu32
diff --git a/motors/fet12/motor_controls.cc b/motors/fet12/motor_controls.cc
index 9e42ca8..0ef7e3c 100644
--- a/motors/fet12/motor_controls.cc
+++ b/motors/fet12/motor_controls.cc
@@ -163,7 +163,8 @@
const ::Eigen::Matrix<float, 3, 1> measured_current =
(::Eigen::Matrix<float, 3, 1>() << scale_current_reading(raw_currents[0]),
scale_current_reading(raw_currents[1]),
- scale_current_reading(raw_currents[2])).finished();
+ scale_current_reading(raw_currents[2]))
+ .finished();
const ComplexMatrix<3, 1> E1 =
E1Unrotated_ *
diff --git a/motors/fet12/motor_controls.h b/motors/fet12/motor_controls.h
index eea1c30..482eeaf 100644
--- a/motors/fet12/motor_controls.h
+++ b/motors/fet12/motor_controls.h
@@ -4,11 +4,11 @@
#include <array>
#include <complex>
+#include "Eigen/Dense"
+
#include "motors/math.h"
#include "motors/motor.h"
-#include "Eigen/Dense"
-
namespace frc971 {
namespace motors {
@@ -57,8 +57,7 @@
float overall_measured_current_ = 0;
::Eigen::Matrix<float, 3, 1> I_last_ = ::Eigen::Matrix<float, 3, 1>::Zero();
- ::Eigen::Matrix<float, 3, 1> I_prev_ =
- ::Eigen::Matrix<float, 3, 1>::Zero();
+ ::Eigen::Matrix<float, 3, 1> I_prev_ = ::Eigen::Matrix<float, 3, 1>::Zero();
int16_t debug_[9];
};
diff --git a/motors/fet12/power_wheels.cc b/motors/fet12/power_wheels.cc
index fe56348..893d92f 100644
--- a/motors/fet12/power_wheels.cc
+++ b/motors/fet12/power_wheels.cc
@@ -1,11 +1,10 @@
-#include "motors/core/kinetis.h"
-
#include <inttypes.h>
#include <math.h>
#include <stdio.h>
#include <atomic>
+#include "motors/core/kinetis.h"
#include "motors/core/time.h"
#include "motors/peripheral/adc.h"
#include "motors/usb/cdc.h"
@@ -232,7 +231,7 @@
// Don't let any memory accesses sneak past here, because we actually
// need everything to be starting up.
- __asm__("" :: : "memory");
+ __asm__("" ::: "memory");
// Give everything a chance to get going.
delay(100);
@@ -265,8 +264,8 @@
}
static constexpr int kThrottleMin = 700;
static constexpr int kThrottleMax = 2000;
- //static constexpr int kThrottleMin = 1100;
- //static constexpr int kThrottleMax = 3190;
+ // static constexpr int kThrottleMin = 1100;
+ // static constexpr int kThrottleMax = 3190;
const float pedal_position = ::std::min(
1.0f,
::std::max(0.0f,
diff --git a/motors/math.h b/motors/math.h
index d7bbee4..5151714 100644
--- a/motors/math.h
+++ b/motors/math.h
@@ -100,7 +100,7 @@
extern ::std::array<GenericInitializer *, 10> global_initializers;
// Manages initializing and access to an integer table of a single size.
-template<int kTableSize>
+template <int kTableSize>
class SinCosIntTable {
public:
static const float *sin_int_table() {
@@ -192,7 +192,7 @@
// multiple denominators are needed in the same program, in which case using the
// biggest denominator for all of them will use the least memory.
-template<class Rotation, int kTableSize = Rotation::den>
+template <class Rotation, int kTableSize = Rotation::den>
float FastSinInt(uint32_t theta) {
return math_internal::FastTableLookupInt<Rotation, kTableSize>(
theta, math_internal::SinCosIntTable<kTableSize>::sin_int_table());
@@ -204,7 +204,7 @@
theta, math_internal::SinCosIntTable<kTableSize>::cos_int_table());
}
-template<class Rotation>
+template <class Rotation>
::std::complex<float> ImaginaryExpInt(uint32_t theta) {
return ::std::complex<float>(FastCosInt<Rotation>(theta),
FastSinInt<Rotation>(theta));
diff --git a/motors/math_test.cc b/motors/math_test.cc
index 91100e8..fb72454 100644
--- a/motors/math_test.cc
+++ b/motors/math_test.cc
@@ -1,7 +1,7 @@
#include "motors/math.h"
-#include "gtest/gtest.h"
#include "gmock/gmock.h"
+#include "gtest/gtest.h"
namespace frc971 {
namespace motors {
@@ -9,20 +9,18 @@
class SinCosIntTest : public ::testing::Test {
public:
- void SetUp() override {
- MathInit();
- }
+ void SetUp() override { MathInit(); }
template <class Rotation, int kTableSize>
void CheckSinCos() {
static constexpr float kTolerance = 0.004;
- SCOPED_TRACE("num=" + ::std::to_string(Rotation::num) + " den=" +
- ::std::to_string(Rotation::den) + " table_size=" +
- ::std::to_string(kTableSize));
+ SCOPED_TRACE("num=" + ::std::to_string(Rotation::num) +
+ " den=" + ::std::to_string(Rotation::den) +
+ " table_size=" + ::std::to_string(kTableSize));
for (uint32_t theta = 0; theta < Rotation::den; ++theta) {
const float theta_float = ThetaToFloat<Rotation>(theta);
- SCOPED_TRACE("theta=" + ::std::to_string(theta) + " theta_float=" +
- ::std::to_string(theta_float));
+ SCOPED_TRACE("theta=" + ::std::to_string(theta) +
+ " theta_float=" + ::std::to_string(theta_float));
EXPECT_THAT((FastSinInt<Rotation, kTableSize>(theta)),
::testing::FloatNear(sin(theta_float), kTolerance));
EXPECT_THAT((FastCosInt<Rotation, kTableSize>(theta)),
@@ -77,9 +75,7 @@
class SinCosFloatTest : public ::testing::Test {
public:
- void SetUp() override {
- MathInit();
- }
+ void SetUp() override { MathInit(); }
void CheckSinCos(float theta) {
ASSERT_GE(theta, -0.2f);
diff --git a/motors/motor.cc b/motors/motor.cc
index 33113a1..a343301 100644
--- a/motors/motor.cc
+++ b/motors/motor.cc
@@ -1,13 +1,13 @@
#include "motors/motor.h"
+#include <inttypes.h>
#include <limits.h>
#include <stdio.h>
-#include <inttypes.h>
#include <array>
-#include "motors/peripheral/configuration.h"
#include "motors/peripheral/can.h"
+#include "motors/peripheral/configuration.h"
extern "C" float analog_ratio(uint16_t reading);
extern "C" float absolute_wheel(uint16_t reading);
@@ -184,7 +184,7 @@
static_cast<uint32_t>(switching_points_ratio_[2] * switching_points_max)};
#if USE_CUTOFF
constexpr uint32_t kMax = 2995;
- //constexpr uint32_t kMax = 1445;
+ // constexpr uint32_t kMax = 1445;
static bool done = false;
bool done_now = false;
if (switching_points[0] > kMax || switching_points[1] > kMax ||
@@ -223,7 +223,7 @@
done = true;
}
if (!done) {
-#else // USE_CUTOFF
+#else // USE_CUTOFF
if (true) {
#endif // USE_CUTOFF
output_registers_[0][0] = CalculateOnTime(switching_points[0]);
@@ -262,7 +262,7 @@
constexpr int kStartupWait = 2 * 20000;
#endif
constexpr int kSubsampling = 1;
- //constexpr int kPoints = 5000;
+ // constexpr int kPoints = 5000;
constexpr int kPoints = 1000;
constexpr int kSamplingEnd = kStartupWait + kPoints * kSubsampling;
(void)kSamplingEnd;
@@ -277,7 +277,7 @@
++j;
#if SAMPLE_UNTIL_DONE
} else if (!done) {
-#else // SAMPLE_UNTIL_DONE
+#else // SAMPLE_UNTIL_DONE
} else if (j < kSamplingEnd && (j % kSubsampling) == 0) {
#endif // SAMPLE_UNTIL_DONE
{
@@ -329,14 +329,14 @@
point[5] = pwm_ftm_->C5V - pwm_ftm_->C4V;
#endif
#endif
-// End obnoxious #if 0/#if 1
+ // End obnoxious #if 0/#if 1
point[9] = captured_wrapped_encoder;
- //SmallInitReadings readings;
+ // SmallInitReadings readings;
//{
- //DisableInterrupts disable_interrupts;
- //readings = AdcReadSmallInit(disable_interrupts);
+ // DisableInterrupts disable_interrupts;
+ // readings = AdcReadSmallInit(disable_interrupts);
//}
- //point[10] = readings.motor0_abs;
+ // point[10] = readings.motor0_abs;
}
#if DO_STEP_RESPONSE
@@ -359,12 +359,12 @@
pwm_ftm_->C2V = 0;
pwm_ftm_->C3V = 0;
}
-#endif // DO_STEP_RESPONSE/DO_PULSE_SWEEP
+#endif // DO_STEP_RESPONSE/DO_PULSE_SWEEP
++j;
#if SAMPLE_UNTIL_DONE
} else if (false) {
-#else // SAMPLE_UNTIL_DONE
+#else // SAMPLE_UNTIL_DONE
} else if (j < kSamplingEnd) {
++j;
} else if (j == kSamplingEnd) {
@@ -373,7 +373,7 @@
++j;
#if SAMPLE_UNTIL_DONE
} else if (done) {
-#else // SAMPLE_UNTIL_DONE
+#else // SAMPLE_UNTIL_DONE
} else {
#endif // SAMPLE_UNTIL_DONE
// Time to write the data out.
@@ -382,7 +382,8 @@
if (to_write > 64) {
to_write = 64;
}
- int result = printing_implementation_->Write(((const char *)data) + written, to_write);
+ int result = printing_implementation_->Write(
+ ((const char *)data) + written, to_write);
if (result >= 0) {
written += result;
} else {
diff --git a/motors/motor.h b/motors/motor.h
index 2896b80..3f7b132 100644
--- a/motors/motor.h
+++ b/motors/motor.h
@@ -111,9 +111,7 @@
return static_cast<int32_t>(wrapped_encoder_reading) + encoder_offset_;
}
- int encoder() {
- return encoder_multiplier_ * encoder_ftm_->CNT;
- }
+ int encoder() { return encoder_multiplier_ * encoder_ftm_->CNT; }
uint32_t wrapped_encoder() {
return (encoder() + encoder_calibration_offset_) %
controls_->mechanical_counts_per_revolution();
@@ -155,13 +153,9 @@
return controls_->estimated_velocity();
}
- inline int16_t i_goal(size_t ii) const {
- return controls_->i_goal(ii);
- }
+ inline int16_t i_goal(size_t ii) const { return controls_->i_goal(ii); }
- inline int16_t goal_current() const {
- return goal_current_;
- }
+ inline int16_t goal_current() const { return goal_current_; }
inline float overall_measured_current() const {
return controls_->overall_measured_current();
diff --git a/motors/peripheral/adc.cc b/motors/peripheral/adc.cc
index 6325f9f..64f1557 100644
--- a/motors/peripheral/adc.cc
+++ b/motors/peripheral/adc.cc
@@ -6,7 +6,9 @@
namespace motors {
namespace {
-#define ADC_SC2_BASE (ADC_SC2_REFSEL(0) /* Use the external reference pins. */)
+#define ADC_SC2_BASE \
+ (ADC_SC2_REFSEL(0) /* Use the external reference pins. \
+ */)
#define ADC_FINISH_CALIBRATION(n, PM) \
do { \
diff --git a/motors/peripheral/adc_dma.cc b/motors/peripheral/adc_dma.cc
index bdd84d6..d2dc6c9 100644
--- a/motors/peripheral/adc_dma.cc
+++ b/motors/peripheral/adc_dma.cc
@@ -65,7 +65,8 @@
} // namespace
-AdcDmaSampler::AdcDmaSampler(int counts_per_cycle) : counts_per_cycle_(counts_per_cycle) {
+AdcDmaSampler::AdcDmaSampler(int counts_per_cycle)
+ : counts_per_cycle_(counts_per_cycle) {
for (int adc = 0; adc < 2; ++adc) {
for (int i = 0; i < 2; ++i) {
adc_sc1s_[adc][kNumberAdcSamples + i] = ADC_SC1_ADCH(0x1f);
@@ -117,7 +118,6 @@
static constexpr int kHscAdder = 2 * kAdcClockDivider;
-
static constexpr int kConversionTime =
kSfcAdder + 1 /* AverageNum */ * (kBct + kLstAdder + kHscAdder);
@@ -165,9 +165,8 @@
DMA.CERQ = result_dma_channel(adc);
DMA.CERQ = reconfigure_dma_channel(adc);
- ADC(adc)
- ->SC2 |= ADC_SC2_ADTRG /* Use hardware triggering */ |
- ADC_SC2_DMAEN /* Enable DMA triggers */;
+ ADC(adc)->SC2 |= ADC_SC2_ADTRG /* Use hardware triggering */ |
+ ADC_SC2_DMAEN /* Enable DMA triggers */;
int next_result_channel, next_reconfigure_channel;
if (adc == 0) {
diff --git a/motors/peripheral/adc_dma.h b/motors/peripheral/adc_dma.h
index 6cd0742..a00b730 100644
--- a/motors/peripheral/adc_dma.h
+++ b/motors/peripheral/adc_dma.h
@@ -1,10 +1,10 @@
#ifndef MOTORS_PERIPHERAL_ADC_DMA_H_
#define MOTORS_PERIPHERAL_ADC_DMA_H_
-#include <array>
-
#include <stdint.h>
+#include <array>
+
#include "motors/core/kinetis.h"
#include "motors/peripheral/configuration.h"
#include "motors/util.h"
diff --git a/motors/peripheral/can.c b/motors/peripheral/can.c
index de593c7..7e65ac9 100644
--- a/motors/peripheral/can.c
+++ b/motors/peripheral/can.c
@@ -1,14 +1,13 @@
#include "motors/peripheral/can.h"
+#include <inttypes.h>
#include <stddef.h>
+#include <stdio.h>
#include <string.h>
#include "motors/core/kinetis.h"
#include "motors/util.h"
-#include <stdio.h>
-#include <inttypes.h>
-
// General note: this peripheral is really weird about accessing its memory. It
// goes much farther than normal memory-mapped device semantics. In particular,
// it "locks" various regions of memory under complicated conditions. Because of
@@ -44,7 +43,8 @@
// isn't what we want. It will ignore the attempt to change some of the bits
// because it's not in freeze mode, but whatever.
CAN0_MCR = CAN_MCR_FRZ | CAN_MCR_HALT;
- while (!(CAN0_MCR & CAN_MCR_FRZACK)) {}
+ while (!(CAN0_MCR & CAN_MCR_FRZACK)) {
+ }
// Initializing this before touching the mailboxes because the reference
// manual slightly implies you have to, and the registers and RAM on this
@@ -87,13 +87,13 @@
// We're going with a sample point fraction of 0.875 because that's what
// SocketCAN defaults to.
// This results in a baud rate of 500 kHz.
- CAN0_CTRL1 = CAN_CTRL1_PRESDIV(
- 1) /* Divide the crystal frequency by 2 to get 8 MHz. */ |
- CAN_CTRL1_RJW(0) /* RJW/SJW of 1, which is most common. */ |
- CAN_CTRL1_PSEG1(7) /* 8 time quanta before sampling. */ |
- CAN_CTRL1_PSEG2(1) /* 2 time quanta after sampling. */ |
- CAN_CTRL1_SMP /* Use triple sampling. */ |
- CAN_CTRL1_PROPSEG(4) /* 5 time quanta before sampling. */;
+ CAN0_CTRL1 =
+ CAN_CTRL1_PRESDIV(1) /* Divide the crystal frequency by 2 to get 8 MHz. */
+ | CAN_CTRL1_RJW(0) /* RJW/SJW of 1, which is most common. */ |
+ CAN_CTRL1_PSEG1(7) /* 8 time quanta before sampling. */ |
+ CAN_CTRL1_PSEG2(1) /* 2 time quanta after sampling. */ |
+ CAN_CTRL1_SMP /* Use triple sampling. */ |
+ CAN_CTRL1_PROPSEG(4) /* 5 time quanta before sampling. */;
// TASD calculation:
// 25 - (fcanclk * (maxmb + 3 - (rfen * 8) - (rfen * rffn * 2)) * 2) /
// (fsys * (1 + (pseg1 + 1) + (pseg2 + 1) + (propseg + 1)) * (presdiv + 1))
diff --git a/motors/peripheral/spi.h b/motors/peripheral/spi.h
index 5361f91..f865703 100644
--- a/motors/peripheral/spi.h
+++ b/motors/peripheral/spi.h
@@ -2,6 +2,7 @@
#define MOTORS_PERIPHERAL_SPI_H_
#include "absl/types/span.h"
+
#include "motors/core/kinetis.h"
#include "motors/peripheral/uart_buffer.h"
#include "motors/util.h"
diff --git a/motors/peripheral/uart.h b/motors/peripheral/uart.h
index d51bcfe..bfd630b 100644
--- a/motors/peripheral/uart.h
+++ b/motors/peripheral/uart.h
@@ -2,6 +2,7 @@
#define MOTORS_PERIPHERAL_UART_H_
#include "absl/types/span.h"
+
#include "aos/containers/sized_array.h"
#include "motors/core/kinetis.h"
#include "motors/peripheral/uart_buffer.h"
@@ -27,9 +28,7 @@
}
// Returns all the data which is currently available.
- aos::SizedArray<char, 4> Read(const DisableInterrupts &) {
- return DoRead();
- }
+ aos::SizedArray<char, 4> Read(const DisableInterrupts &) { return DoRead(); }
bool SpaceAvailable() const { return module_->S1 & M_UART_TDRE; }
// Only call this if SpaceAvailable() has just returned true.
diff --git a/motors/peripheral/uart_buffer.h b/motors/peripheral/uart_buffer.h
index c324a2d..9266465 100644
--- a/motors/peripheral/uart_buffer.h
+++ b/motors/peripheral/uart_buffer.h
@@ -10,7 +10,7 @@
namespace teensy {
// Manages a circular buffer of data to send out.
-template<int kSize>
+template <int kSize>
class UartBuffer {
public:
// Returns the number of characters added.
diff --git a/motors/peripheral/uart_buffer_test.cc b/motors/peripheral/uart_buffer_test.cc
index c464f8a..223c029 100644
--- a/motors/peripheral/uart_buffer_test.cc
+++ b/motors/peripheral/uart_buffer_test.cc
@@ -232,14 +232,14 @@
const auto result = buffer.PopSpan(5);
ASSERT_EQ(5u, result.size());
for (int i = 0; i < 5; ++i) {
- EXPECT_EQ(static_cast<char>(i), result[i]);
+ EXPECT_EQ(static_cast<char>(i), result[i]);
}
}
{
const auto result = buffer.PopSpan(10);
ASSERT_EQ(5u, result.size());
for (int i = 0; i < 5; ++i) {
- EXPECT_EQ(static_cast<char>(i + 5), result[i]);
+ EXPECT_EQ(static_cast<char>(i + 5), result[i]);
}
}
ASSERT_TRUE(buffer.PopSpan(5).empty());
@@ -259,7 +259,7 @@
const auto result = buffer.PopSpan(5);
ASSERT_EQ(5u, result.size());
for (int i = 0; i < 5; ++i) {
- EXPECT_EQ(static_cast<char>(i), result[i]);
+ EXPECT_EQ(static_cast<char>(i), result[i]);
}
}
for (int i = 0; i < 5; ++i) {
@@ -269,14 +269,14 @@
const auto result = buffer.PopSpan(10);
ASSERT_EQ(5u, result.size());
for (int i = 0; i < 5; ++i) {
- EXPECT_EQ(static_cast<char>(i + 5), result[i]);
+ EXPECT_EQ(static_cast<char>(i + 5), result[i]);
}
}
{
const auto result = buffer.PopSpan(10);
ASSERT_EQ(5u, result.size());
for (int i = 0; i < 5; ++i) {
- EXPECT_EQ(static_cast<char>(i + 20), result[i]);
+ EXPECT_EQ(static_cast<char>(i + 20), result[i]);
}
}
}
diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index 32a0285..5a0d5a2 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -1,5 +1,3 @@
-#include "motors/core/kinetis.h"
-
#include <inttypes.h>
#include <stdio.h>
@@ -8,6 +6,7 @@
#include "frc971/control_loops/drivetrain/integral_haptic_trigger.h"
#include "frc971/control_loops/drivetrain/integral_haptic_wheel.h"
+#include "motors/core/kinetis.h"
#include "motors/core/time.h"
#include "motors/motor.h"
#include "motors/peripheral/can.h"
@@ -41,10 +40,10 @@
return wheel_cogging_torque.load(::std::memory_order_relaxed)[index];
}
-using ::frc971::control_loops::drivetrain::MakeIntegralHapticTriggerPlant;
using ::frc971::control_loops::drivetrain::MakeIntegralHapticTriggerObserver;
-using ::frc971::control_loops::drivetrain::MakeIntegralHapticWheelPlant;
+using ::frc971::control_loops::drivetrain::MakeIntegralHapticTriggerPlant;
using ::frc971::control_loops::drivetrain::MakeIntegralHapticWheelObserver;
+using ::frc971::control_loops::drivetrain::MakeIntegralHapticWheelPlant;
// Returns an identifier for the processor we're running on.
// This isn't guaranteed to be unique, but it should be close enough.
@@ -107,7 +106,8 @@
static_cast<float>(kMax - kMin);
}
-constexpr float InterpolateFloat(float x1, float x0, float y1, float y0, float x) {
+constexpr float InterpolateFloat(float x1, float x0, float y1, float y0,
+ float x) {
return (x - x0) * (y1 - y0) / (x1 - x0) + y0;
}
@@ -188,8 +188,7 @@
}
if (i >= 100) {
printf("reading1: %d %d a:%d e:%d\n", goal,
- static_cast<int>(goal_current * 10000.0f),
- static_cast<int>(encoder),
+ static_cast<int>(goal_current * 10000.0f), static_cast<int>(encoder),
static_cast<int>(error));
static int counting_up = 0;
if (absolute_encoder <= -6900) {
@@ -230,9 +229,9 @@
(void)CoggingCurrent1;
float goal_current = global_wheel_current.load(::std::memory_order_relaxed) +
WheelCoggingTorque(encoder);
- //float goal_current = CoggingCurrent1(encoder, absolute_encoder);
- // float goal_current = kWheelCoggingTorque[encoder];
- // float goal_current = 0.0f;
+ // float goal_current = CoggingCurrent1(encoder, absolute_encoder);
+ // float goal_current = kWheelCoggingTorque[encoder];
+ // float goal_current = 0.0f;
// Controller 0 is mechanical and doesn't need the motor controls.
if (processor_index == 0) {
@@ -244,8 +243,7 @@
->CurrentInterrupt(BalanceSimpleReadings(readings.currents), encoder);
global_wheel_angle.store(angle);
}
- //global_motor1.load(::std::memory_order_relaxed)->CycleFixedPhaseInterupt();
-
+ // global_motor1.load(::std::memory_order_relaxed)->CycleFixedPhaseInterupt();
/*
SmallInitReadings position_readings;
@@ -329,8 +327,7 @@
if (i >= 100) {
printf("reading0: %d %d a:%d e:%d\n", goal,
- static_cast<int>(goal_current * 10000.0f),
- static_cast<int>(encoder),
+ static_cast<int>(goal_current * 10000.0f), static_cast<int>(encoder),
static_cast<int>(error));
static int counting_up = 0;
if (absolute_encoder <= -1390) {
@@ -373,9 +370,9 @@
const float goal_current =
global_trigger_current.load(::std::memory_order_relaxed) +
TriggerCoggingTorque(encoder);
- //const float goal_current = kTriggerCoggingTorque[encoder];
- //const float goal_current = 0.0f;
- //const float goal_current = CoggingCurrent0(encoder, absolute_encoder);
+ // const float goal_current = kTriggerCoggingTorque[encoder];
+ // const float goal_current = 0.0f;
+ // const float goal_current = CoggingCurrent0(encoder, absolute_encoder);
if (processor_index == 0) {
global_motor0.load(::std::memory_order_relaxed)->CycleFixedPhaseInterupt(0);
@@ -386,8 +383,7 @@
->CurrentInterrupt(BalanceSimpleReadings(readings.currents), encoder);
global_trigger_angle.store(trigger_angle);
}
- //global_motor0.load(::std::memory_order_relaxed)->CycleFixedPhaseInterupt();
-
+ // global_motor0.load(::std::memory_order_relaxed)->CycleFixedPhaseInterupt();
/*
SmallInitReadings position_readings;
@@ -974,9 +970,9 @@
printf("stack start: %p\n", __stack_end__);
trigger_cogging_torque.store(processor_index == 0 ? kTriggerCoggingTorque0
- : kTriggerCoggingTorque1);
+ : kTriggerCoggingTorque1);
wheel_cogging_torque.store(processor_index == 0 ? kWheelCoggingTorque0
- : kWheelCoggingTorque1);
+ : kWheelCoggingTorque1);
printf("Zeroing motors for %d:%x\n", static_cast<int>(processor_index),
(unsigned int)ProcessorIdentifier());
diff --git a/motors/pistol_grip/drivers_station.cc b/motors/pistol_grip/drivers_station.cc
index eaa4486..a1cd6d9 100644
--- a/motors/pistol_grip/drivers_station.cc
+++ b/motors/pistol_grip/drivers_station.cc
@@ -2,6 +2,7 @@
// communicates over CAN with the one in the pistol grip controller.
#include <stdio.h>
+
#include <atomic>
#include "motors/core/kinetis.h"
diff --git a/motors/pistol_grip/motor_controls.cc b/motors/pistol_grip/motor_controls.cc
index 70e5464..a9c909f 100644
--- a/motors/pistol_grip/motor_controls.cc
+++ b/motors/pistol_grip/motor_controls.cc
@@ -26,8 +26,7 @@
#endif
constexpr int kPhaseBOffset = kCountsPerRevolution / 3;
-constexpr int kPhaseCOffset =
- 2 * kCountsPerRevolution / 3;
+constexpr int kPhaseCOffset = 2 * kCountsPerRevolution / 3;
// volts
constexpr double vcc = 14.0;
@@ -128,7 +127,8 @@
filtered_current_ = command_current;
}
const float goal_current_in = filtered_current_;
- static constexpr float kMaxEffectiveVcc = static_cast<float>(vcc * kMaxDutyCycle);
+ static constexpr float kMaxEffectiveVcc =
+ static_cast<float>(vcc * kMaxDutyCycle);
const float estimated_velocity_voltage =
estimated_velocity_ / static_cast<float>(Kv / 2.0);
const float max_current = (kMaxEffectiveVcc - estimated_velocity_voltage) /
@@ -143,7 +143,8 @@
const ::Eigen::Matrix<float, 3, 1> measured_current =
(::Eigen::Matrix<float, 3, 1>() << scale_current_reading(raw_currents[0]),
scale_current_reading(raw_currents[1]),
- scale_current_reading(raw_currents[2])).finished();
+ scale_current_reading(raw_currents[2]))
+ .finished();
const ComplexMatrix<3, 1> E1 =
E1Unrotated_ *
diff --git a/motors/pistol_grip/motor_controls.h b/motors/pistol_grip/motor_controls.h
index 5e333dc..253da4b 100644
--- a/motors/pistol_grip/motor_controls.h
+++ b/motors/pistol_grip/motor_controls.h
@@ -4,11 +4,11 @@
#include <array>
#include <complex>
+#include "Eigen/Dense"
+
#include "motors/math.h"
#include "motors/motor.h"
-#include "Eigen/Dense"
-
namespace frc971 {
namespace motors {
@@ -41,8 +41,8 @@
}
::std::array<float, 3> DoIteration(const float raw_currents[3],
- uint32_t theta,
- const float command_current) override;
+ uint32_t theta,
+ const float command_current) override;
int16_t Debug(uint32_t theta) override;
diff --git a/motors/pistol_grip/usb_forward.cc b/motors/pistol_grip/usb_forward.cc
index 19be857..b2a173e 100644
--- a/motors/pistol_grip/usb_forward.cc
+++ b/motors/pistol_grip/usb_forward.cc
@@ -1,11 +1,11 @@
// This file is designed to be compiled for Windows to run on the driver's
// station. It forwards UDP packets to the pistol grip controller over USB.
+#include <errno.h>
+#include <inttypes.h>
+#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
-#include <stdint.h>
-#include <inttypes.h>
-#include <errno.h>
#include <string.h>
#ifdef __WINNT__
@@ -14,8 +14,8 @@
#define PRId8 "hhd"
#define PRIx8 "hhx"
#else
-#include <netinet/in.h>
#include <arpa/inet.h>
+#include <netinet/in.h>
#endif
#include <string>
diff --git a/motors/print/itm.cc b/motors/print/itm.cc
index 6f9164e..7f472c0 100644
--- a/motors/print/itm.cc
+++ b/motors/print/itm.cc
@@ -3,6 +3,7 @@
#include <cstring>
#include "absl/types/span.h"
+
#include "motors/core/itm.h"
namespace frc971 {
diff --git a/motors/print/itm.h b/motors/print/itm.h
index edcb798..64e3092 100644
--- a/motors/print/itm.h
+++ b/motors/print/itm.h
@@ -2,6 +2,7 @@
#define MOTORS_PRINT_ITM_
#include "absl/types/span.h"
+
#include "motors/print/print.h"
namespace frc971 {
diff --git a/motors/print/print.h b/motors/print/print.h
index 34ba983..7ec7cf2 100644
--- a/motors/print/print.h
+++ b/motors/print/print.h
@@ -4,6 +4,7 @@
#include <memory>
#include "absl/types/span.h"
+
#include "aos/containers/sized_array.h"
#include "motors/core/kinetis.h"
diff --git a/motors/print/semihosting.cc b/motors/print/semihosting.cc
index 13bd78b..a266ad6 100644
--- a/motors/print/semihosting.cc
+++ b/motors/print/semihosting.cc
@@ -1,6 +1,7 @@
#include "motors/print/semihosting.h"
#include "absl/types/span.h"
+
#include "motors/core/semihosting.h"
namespace frc971 {
diff --git a/motors/print/semihosting.h b/motors/print/semihosting.h
index d323a7a..6094a67 100644
--- a/motors/print/semihosting.h
+++ b/motors/print/semihosting.h
@@ -2,6 +2,7 @@
#define MOTORS_PRINT_SEMIHOSTING_H_
#include "absl/types/span.h"
+
#include "motors/print/print.h"
namespace frc971 {
diff --git a/motors/print/uart.cc b/motors/print/uart.cc
index b635d23..4cfb001 100644
--- a/motors/print/uart.cc
+++ b/motors/print/uart.cc
@@ -1,9 +1,9 @@
#include "motors/print/uart.h"
-#include "motors/core/kinetis.h"
-
#include <atomic>
+#include "motors/core/kinetis.h"
+
namespace frc971 {
namespace motors {
namespace {
diff --git a/motors/seems_reasonable/spring.cc b/motors/seems_reasonable/spring.cc
index 4448b33..79ac751 100644
--- a/motors/seems_reasonable/spring.cc
+++ b/motors/seems_reasonable/spring.cc
@@ -1,9 +1,9 @@
#include "motors/seems_reasonable/spring.h"
-#include "frc971/zeroing/wrap.h"
-
#include <cmath>
+#include "frc971/zeroing/wrap.h"
+
namespace motors {
namespace seems_reasonable {
namespace {
diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 5f3af0a..bb10353 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -2,6 +2,7 @@
#include <inttypes.h>
#include <stdio.h>
+
#include <atomic>
#include <chrono>
#include <cmath>
@@ -72,23 +73,27 @@
chrono::duration_cast<chrono::nanoseconds>(
chrono::duration<float>(::motors::seems_reasonable::kDt)),
::motors::seems_reasonable::kRobotRadius,
- ::motors::seems_reasonable::kWheelRadius, ::motors::seems_reasonable::kV,
+ ::motors::seems_reasonable::kWheelRadius,
+ ::motors::seems_reasonable::kV,
::motors::seems_reasonable::kHighGearRatio,
::motors::seems_reasonable::kLowGearRatio,
::motors::seems_reasonable::kJ,
::motors::seems_reasonable::kMass,
kThreeStateDriveShifter,
- kThreeStateDriveShifter, true /* default_high_gear */,
+ kThreeStateDriveShifter,
+ true /* default_high_gear */,
0 /* down_offset if using constants use
- constants::GetValues().down_error */, 0.8 /* wheel_non_linearity */,
- 1.2 /* quickturn_wheel_multiplier */, 1.5 /* wheel_multiplier */,
+ constants::GetValues().down_error */
+ ,
+ 0.8 /* wheel_non_linearity */,
+ 1.2 /* quickturn_wheel_multiplier */,
+ 1.5 /* wheel_multiplier */,
};
return kDrivetrainConfig;
};
-
::std::atomic<PolyDrivetrain<float> *> global_polydrivetrain{nullptr};
::std::atomic<Spring *> global_spring{nullptr};
@@ -381,16 +386,18 @@
return;
}
}
- if (!AccelerometerWrite(
- 0x20, (1 << 5) /* Normal mode */ | (1 << 3) /* 100 Hz */ |
- (1 << 2) /* Z enabled */ | (1 << 1) /* Y enabled */ |
- (1 << 0) /* X enabled */,
- end_micros)) {
+ if (!AccelerometerWrite(0x20,
+ (1 << 5) /* Normal mode */ | (1 << 3) /* 100 Hz */ |
+ (1 << 2) /* Z enabled */ |
+ (1 << 1) /* Y enabled */ |
+ (1 << 0) /* X enabled */,
+ end_micros)) {
}
// If want to read LSB, need to enable BDU to avoid splitting reads.
- if (!AccelerometerWrite(0x23, (0 << 6) /* Data LSB at lower address */ |
- (3 << 4) /* 400g full scale */ |
- (0 << 0) /* 4-wire interface */,
+ if (!AccelerometerWrite(0x23,
+ (0 << 6) /* Data LSB at lower address */ |
+ (3 << 4) /* 400g full scale */ |
+ (0 << 0) /* 4-wire interface */,
end_micros)) {
}
accelerometer_inited = true;
@@ -775,7 +782,7 @@
NVIC_ENABLE_IRQ(IRQ_PIT_CH3);
printf("Done starting up2\n");
- //DoReceiverTest2();
+ // DoReceiverTest2();
while (true) {
}
diff --git a/motors/simpler_receiver.cc b/motors/simpler_receiver.cc
index c3fcec9..808fb83 100644
--- a/motors/simpler_receiver.cc
+++ b/motors/simpler_receiver.cc
@@ -3,6 +3,7 @@
#include <inttypes.h>
#include <stdio.h>
+
#include <atomic>
#include <chrono>
#include <cmath>
@@ -43,20 +44,25 @@
chrono::duration_cast<chrono::nanoseconds>(
chrono::duration<float>(::motors::seems_reasonable::kDt)),
::motors::seems_reasonable::kRobotRadius,
- ::motors::seems_reasonable::kWheelRadius, ::motors::seems_reasonable::kV,
+ ::motors::seems_reasonable::kWheelRadius,
+ ::motors::seems_reasonable::kV,
::motors::seems_reasonable::kHighGearRatio,
- ::motors::seems_reasonable::kLowGearRatio, ::motors::seems_reasonable::kJ,
- ::motors::seems_reasonable::kMass, kThreeStateDriveShifter,
- kThreeStateDriveShifter, true /* default_high_gear */,
- 0 /* down_offset */, 0.8 /* wheel_non_linearity */,
- 1.2 /* quickturn_wheel_multiplier */, 1.5 /* wheel_multiplier */,
+ ::motors::seems_reasonable::kLowGearRatio,
+ ::motors::seems_reasonable::kJ,
+ ::motors::seems_reasonable::kMass,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true /* default_high_gear */,
+ 0 /* down_offset */,
+ 0.8 /* wheel_non_linearity */,
+ 1.2 /* quickturn_wheel_multiplier */,
+ 1.5 /* wheel_multiplier */,
};
return kDrivetrainConfig;
};
-
::std::atomic<PolyDrivetrain<float> *> global_polydrivetrain{nullptr};
// Last width we received on each channel.
diff --git a/motors/usb/cdc.cc b/motors/usb/cdc.cc
index 575b4c1..e082156 100644
--- a/motors/usb/cdc.cc
+++ b/motors/usb/cdc.cc
@@ -1,7 +1,7 @@
#include "motors/usb/cdc.h"
-#include <string.h>
#include <stdint.h>
+#include <string.h>
#include "motors/core/time.h"
@@ -129,8 +129,8 @@
{
const auto interface_descriptor = CreateDescriptor(
interface_descriptor_length(), UsbDescriptorType::kInterface);
- interface_descriptor->AddByte(status_interface_); // bInterfaceNumber
- interface_descriptor->AddByte(0); // bAlternateSetting
+ interface_descriptor->AddByte(status_interface_); // bInterfaceNumber
+ interface_descriptor->AddByte(0); // bAlternateSetting
interface_descriptor->AddByte(1); // bNumEndpoints
interface_descriptor->AddByte(communications_class()); // bInterfaceClass
interface_descriptor->AddByte(
@@ -157,7 +157,7 @@
call_management->AddByte(
cdc_descriptor_subtype::call_management()); // bDescriptorSubtype
// We don't do call management.
- call_management->AddByte(0); // bmCapabilities
+ call_management->AddByte(0); // bmCapabilities
call_management->AddByte(data_interface_); // bDataInterface
}
@@ -184,7 +184,7 @@
cdc_union_descriptor->AddByte(
cdc_descriptor_subtype::union_function()); // bDescriptorSubtype
cdc_union_descriptor->AddByte(status_interface_); // bMasterInterface
- cdc_union_descriptor->AddByte(data_interface_); // bSlaveInterface
+ cdc_union_descriptor->AddByte(data_interface_); // bSlaveInterface
}
{
diff --git a/motors/usb/cdc.h b/motors/usb/cdc.h
index c02873d..f8f084b 100644
--- a/motors/usb/cdc.h
+++ b/motors/usb/cdc.h
@@ -3,8 +3,8 @@
#include <array>
-#include "motors/usb/usb.h"
#include "motors/usb/queue.h"
+#include "motors/usb/usb.h"
#include "motors/util.h"
// CDC (Communications Device Class) is a "class standard" which takes 30 pages
diff --git a/motors/usb/hid.cc b/motors/usb/hid.cc
index d885e75..f42842b 100644
--- a/motors/usb/hid.cc
+++ b/motors/usb/hid.cc
@@ -60,7 +60,7 @@
endpoint_descriptor->AddByte(
m_endpoint_attributes_interrupt()); // bmAttributes
endpoint_descriptor->AddUint16(in_endpoint_max_size()); // wMaxPacketSize
- endpoint_descriptor->AddByte(0x8); // bInterval
+ endpoint_descriptor->AddByte(0x8); // bInterval
}
}
diff --git a/motors/usb/hid.h b/motors/usb/hid.h
index 019231c..924cf37 100644
--- a/motors/usb/hid.h
+++ b/motors/usb/hid.h
@@ -3,6 +3,7 @@
#include <stdint.h>
#include <string.h>
+
#include <array>
#include "motors/usb/usb.h"
diff --git a/motors/usb/interrupt_out.cc b/motors/usb/interrupt_out.cc
index 9af650a..568e5c5 100644
--- a/motors/usb/interrupt_out.cc
+++ b/motors/usb/interrupt_out.cc
@@ -35,13 +35,12 @@
endpoint_descriptor->AddByte(
m_endpoint_attributes_interrupt()); // bmAttributes
endpoint_descriptor->AddUint16(kSize); // wMaxPacketSize
- endpoint_descriptor->AddByte(1); // bInterval
+ endpoint_descriptor->AddByte(1); // bInterval
}
}
void InterruptOut::HandleOutFinished(int endpoint, BdtEntry *bdt_entry) {
if (endpoint == endpoint_) {
-
DisableInterrupts disable_interrupts;
if (first_rx_held_ == nullptr) {
first_rx_held_ = bdt_entry;
diff --git a/motors/usb/interrupt_out.h b/motors/usb/interrupt_out.h
index 9a7232c..31852f9 100644
--- a/motors/usb/interrupt_out.h
+++ b/motors/usb/interrupt_out.h
@@ -1,12 +1,12 @@
#ifndef MOTORS_USB_INTERRUPT_OUT_H_
#define MOTORS_USB_INTERRUPT_OUT_H_
-#include "motors/usb/usb.h"
-#include "motors/util.h"
-
#include <array>
#include <string>
+#include "motors/usb/usb.h"
+#include "motors/util.h"
+
namespace frc971 {
namespace teensy {
diff --git a/motors/usb/queue.h b/motors/usb/queue.h
index 669abe4..f7a7e77 100644
--- a/motors/usb/queue.h
+++ b/motors/usb/queue.h
@@ -1,8 +1,8 @@
#ifndef MOTORS_USB_QUEUE_H_
#define MOTORS_USB_QUEUE_H_
-#include <memory>
#include <atomic>
+#include <memory>
namespace frc971 {
namespace teensy {
@@ -28,9 +28,7 @@
write_cursor_.load(::std::memory_order_relaxed));
}
- size_t space_available() const {
- return size_ - data_queued() - 1;
- }
+ size_t space_available() const { return size_ - data_queued() - 1; }
bool empty() const {
return read_cursor_.load(::std::memory_order_relaxed) ==
diff --git a/motors/usb/usb.cc b/motors/usb/usb.cc
index e4a2b26..2c64b61 100644
--- a/motors/usb/usb.cc
+++ b/motors/usb/usb.cc
@@ -76,9 +76,9 @@
// The total number of endpoints supported by this hardware.
constexpr int number_endpoints() { return 16; }
-__attribute__((aligned(512))) BdtEntry
- usb0_buffer_descriptor_table[number_endpoints() * 2 /* rx/tx */ *
- 2 /* even/odd */];
+__attribute__((aligned(512)))
+BdtEntry usb0_buffer_descriptor_table[number_endpoints() * 2 /* rx/tx */ *
+ 2 /* even/odd */];
// Returns the specified BDT entry.
BdtEntry *MutableBdtEntry(int endpoint, Direction direction, EvenOdd odd) {
@@ -121,13 +121,13 @@
device_descriptor_ =
device_descriptor_list_.CreateDescriptor(18, UsbDescriptorType::kDevice);
- device_descriptor_->AddUint16(0x0200); // bcdUSB
- device_descriptor_->AddByte(iad_device_class()); // bDeviceClass
+ device_descriptor_->AddUint16(0x0200); // bcdUSB
+ device_descriptor_->AddByte(iad_device_class()); // bDeviceClass
device_descriptor_->AddByte(iad_device_subclass()); // bDeviceSubClass
device_descriptor_->AddByte(iad_device_protocol()); // bDeviceProtocol
- device_descriptor_->AddByte(kEndpoint0MaxSize); // bMaxPacketSize0
- device_descriptor_->AddUint16(vendor_id); // idVendor
- device_descriptor_->AddUint16(product_id); // idProduct
+ device_descriptor_->AddByte(kEndpoint0MaxSize); // bMaxPacketSize0
+ device_descriptor_->AddUint16(vendor_id); // idVendor
+ device_descriptor_->AddUint16(product_id); // idProduct
// Increment this whenever you need Windows boxes to actually pay attention to
// changes.
device_descriptor_->AddUint16(25); // bcdDevice
@@ -211,7 +211,7 @@
config_descriptor_->AddByte(0); // iConfiguration
config_descriptor_->AddByte((1 << 7) /* Reserved */ |
(1 << 6) /* Self-powered */); // bmAttribute
- config_descriptor_->AddByte(2 /* 4mA */); // bMaxPower
+ config_descriptor_->AddByte(2 /* 4mA */); // bMaxPower
device_descriptor_.reset();
config_descriptor_.reset();
@@ -440,9 +440,9 @@
break;
case UsbPid::kOut:
- for (UsbFunction *function : functions_) {
- switch (function->HandleEndpoint0OutPacket(
- bdt_entry->address, G_USB_BD_BC(bdt_entry->buffer_descriptor))) {
+ for (UsbFunction *function : functions_) {
+ switch (function->HandleEndpoint0OutPacket(
+ bdt_entry->address, G_USB_BD_BC(bdt_entry->buffer_descriptor))) {
case SetupResponse::kIgnored:
break;
case SetupResponse::kHandled:
@@ -473,7 +473,7 @@
// TODO(Brian): Keep track of which direction it is and how much we've
// finished so we actually know when to stall it, both here and for
// kOut tokens.
- //StallEndpoint0();
+ // StallEndpoint0();
}
// If we have a new address, there is nothing left in the setup request
@@ -755,19 +755,27 @@
// Microsoft is going to set them to; not like they document it
// anywhere obvious...
if (descriptor_index == 0xEE && setup_packet.index == 0) {
- static uint8_t
- kMicrosoftOsStringDescriptor
- [] = {
- 0x12, // bLength
- static_cast<uint8_t>(
- UsbDescriptorType::kString), // bDescriptorType
- 0x4D,
- 0x00, 0x53, 0x00, 0x46, 0x00, 0x54, 0x00, 0x31,
- 0x00, 0x30, 0x00, 0x30,
- 0x00, // qwSignature
- microsoft_vendor_code(), // bMS_VendorCode
- 0x00 // bPad
- };
+ static uint8_t kMicrosoftOsStringDescriptor[] = {
+ 0x12, // bLength
+ static_cast<uint8_t>(
+ UsbDescriptorType::kString), // bDescriptorType
+ 0x4D,
+ 0x00,
+ 0x53,
+ 0x00,
+ 0x46,
+ 0x00,
+ 0x54,
+ 0x00,
+ 0x31,
+ 0x00,
+ 0x30,
+ 0x00,
+ 0x30,
+ 0x00, // qwSignature
+ microsoft_vendor_code(), // bMS_VendorCode
+ 0x00 // bPad
+ };
QueueEndpoint0Data(
reinterpret_cast<char *>(kMicrosoftOsStringDescriptor),
::std::min<int>(setup_packet.length,
diff --git a/motors/usb/usb.h b/motors/usb/usb.h
index 1273efd..1117bc8 100644
--- a/motors/usb/usb.h
+++ b/motors/usb/usb.h
@@ -3,9 +3,10 @@
#include <assert.h>
#include <string.h>
+
+#include <memory>
#include <string>
#include <vector>
-#include <memory>
#include "aos/macros.h"
#include "motors/core/kinetis.h"
@@ -175,9 +176,7 @@
end_index_(end_index),
next_index_(start_index_) {}
- char *data() const {
- return &descriptor_list_->data_[0];
- }
+ char *data() const { return &descriptor_list_->data_[0]; }
UsbDescriptorList *const descriptor_list_;
const int start_index_, end_index_;
diff --git a/motors/util.h b/motors/util.h
index 3ac6213..8e7ce1c 100644
--- a/motors/util.h
+++ b/motors/util.h
@@ -1,14 +1,13 @@
#ifndef MOTORS_UTIL_H_
#define MOTORS_UTIL_H_
-#include <stdint.h>
#include <stddef.h>
+#include <stdint.h>
#include "motors/core/kinetis.h"
#ifdef __cplusplus
-extern "C"
-{
+extern "C" {
#endif
// This bitband register for a specific bit of a given peripheral register.
@@ -61,12 +60,12 @@
#define CAN_MCR_IRMQ ((uint32_t)(1 << 16))
#define CAN_MCR_LPRIOEN ((uint32_t)(1 << 13))
#define CAN_MCR_AEN ((uint32_t)(1 << 12))
-#define CAN_MCR_IDAM(n) ((uint32_t)(((n) & 3) << 8))
-#define CAN_MCR_MAXMB(n) ((uint32_t)((n) & 0x7F))
-#define CAN_CTRL1_PRESDIV(n) ((uint32_t)(((n) & 0xFF) << 24))
-#define CAN_CTRL1_RJW(n) ((uint32_t)(((n) & 3) << 22))
-#define CAN_CTRL1_PSEG1(n) ((uint32_t)(((n) & 7) << 19))
-#define CAN_CTRL1_PSEG2(n) ((uint32_t)(((n) & 7) << 16))
+#define CAN_MCR_IDAM(n) ((uint32_t)(((n)&3) << 8))
+#define CAN_MCR_MAXMB(n) ((uint32_t)((n)&0x7F))
+#define CAN_CTRL1_PRESDIV(n) ((uint32_t)(((n)&0xFF) << 24))
+#define CAN_CTRL1_RJW(n) ((uint32_t)(((n)&3) << 22))
+#define CAN_CTRL1_PSEG1(n) ((uint32_t)(((n)&7) << 19))
+#define CAN_CTRL1_PSEG2(n) ((uint32_t)(((n)&7) << 16))
#define CAN_CTRL1_BOFFMSK ((uint32_t)(1 << 15))
#define CAN_CTRL1_ERRMSK ((uint32_t)(1 << 14))
#define CAN_CTRL1_CLKSRC ((uint32_t)(1 << 13))
@@ -78,7 +77,7 @@
#define CAN_CTRL1_TSYN ((uint32_t)(1 << 5))
#define CAN_CTRL1_LBUF ((uint32_t)(1 << 4))
#define CAN_CTRL1_LOM ((uint32_t)(1 << 3))
-#define CAN_CTRL1_PROPSEG(n) ((uint32_t)((n) & 7))
+#define CAN_CTRL1_PROPSEG(n) ((uint32_t)((n)&7))
#define CAN_ESR1_SYNCH ((uint32_t)(1 << 18))
#define CAN_ESR1_TWRNINT ((uint32_t)(1 << 17))
#define CAN_ESR1_RWRNINT ((uint32_t)(1 << 16))
@@ -97,8 +96,8 @@
#define CAN_ESR1_ERRINT ((uint32_t)(1 << 1))
#define CAN_ESR1_WAKINT ((uint32_t)1)
#define CAN_CTRL2_WRMFRZ ((uint32_t)(1 << 28))
-#define CAN_CTRL2_RFFN(n) ((uint32_t)(((n) & 0xF) << 24))
-#define CAN_CTRL2_TASD(n) ((uint32_t)(((n) & 0x1F) << 19))
+#define CAN_CTRL2_RFFN(n) ((uint32_t)(((n)&0xF) << 24))
+#define CAN_CTRL2_TASD(n) ((uint32_t)(((n)&0x1F) << 19))
#define CAN_CTRL2_MRP ((uint32_t)(1 << 18))
#define CAN_CTRL2_RRS ((uint32_t)(1 << 17))
#define CAN_CTRL2_EACEN ((uint32_t)(1 << 16))
@@ -115,13 +114,13 @@
#define CAN0_RXIMRS ((volatile uint32_t *)0x40024880)
#define CAN1_MESSAGES ((volatile CanMessageBuffer *)0x400A4080)
#define CAN1_RXIMRS ((volatile uint32_t *)0x400A4880)
-#define CAN_MB_CONTROL_INSERT_DLC(dlc) ((uint32_t)(((dlc) & 0xF) << 16))
+#define CAN_MB_CONTROL_INSERT_DLC(dlc) ((uint32_t)(((dlc)&0xF) << 16))
#define CAN_MB_CONTROL_EXTRACT_DLC(control_timestamp) \
((control_timestamp >> 16) & 0xF)
#define CAN_MB_CONTROL_RTR ((uint32_t)(1 << 20))
#define CAN_MB_CONTROL_IDE ((uint32_t)(1 << 21))
#define CAN_MB_CONTROL_SRR ((uint32_t)(1 << 22))
-#define CAN_MB_CONTROL_INSERT_CODE(n) ((uint32_t)(((n) & 0xF) << 24))
+#define CAN_MB_CONTROL_INSERT_CODE(n) ((uint32_t)(((n)&0xF) << 24))
#define CAN_MB_CONTROL_EXTRACT_CODE(n) ((uint32_t)(((n) >> 24) & 0xF))
#define CAN_MB_CONTROL_CODE_BUSY_MASK CAN_MB_CONTROL_INSERT_CODE(1)
#define CAN_MB_PRIO_ID_PRIORITY_MASK ((uint32_t)((1 << 29) - 1))
@@ -135,11 +134,11 @@
#define CAN_MB_CODE_TX_DATA 0xC
#define CAN_MB_CODE_TX_REMOTE 0xC
#define CAN_MB_CODE_TX_TANSWER 0xE
-#define CAN_MB_CODE_IS_BUSY(code) ((code) & 1)
+#define CAN_MB_CODE_IS_BUSY(code) ((code)&1)
// We have to define these, and leave them defined, because the C preprocessor
// is annoying...
-#define REALLY_DO_CONCATENATE(x, y, z) x ## y ## z
+#define REALLY_DO_CONCATENATE(x, y, z) x##y##z
#define DO_CONCATENATE(x, y, z) REALLY_DO_CONCATENATE(x, y, z)
// Index-parameterized access to various registers from various peripherals.
@@ -204,7 +203,7 @@
typedef struct {
#define FOR_BIG_FTM_REGISTER(name) const uint32_t _reserved_##name;
#define FOR_LITTLE_FTM_REGISTER(name) volatile uint32_t name;
- ALL_FTM_REGISTERS
+ ALL_FTM_REGISTERS
#undef FOR_BIG_FTM_REGISTER
#undef FOR_LITTLE_FTM_REGISTER
#undef FOR_BOTH_FTM_REGISTER
@@ -248,7 +247,7 @@
// constexpr log base 2, which fails to compile for non-power-of-2 inputs.
// This is a silly implementation to use at runtime.
-template<typename T>
+template <typename T>
constexpr T ConstexprLog2(T i) {
if (i == 0) {
__builtin_abort();
diff --git a/tools/build_rules/js/waitpid_module/waitpid_module.cc b/tools/build_rules/js/waitpid_module/waitpid_module.cc
index fe5a42a..cbb84f6 100644
--- a/tools/build_rules/js/waitpid_module/waitpid_module.cc
+++ b/tools/build_rules/js/waitpid_module/waitpid_module.cc
@@ -32,8 +32,8 @@
if (errno == EINTR) {
continue;
}
- isolate->ThrowException(v8::Exception::Error(
- CreateString(isolate, "waitpid() failed")));
+ isolate->ThrowException(
+ v8::Exception::Error(CreateString(isolate, "waitpid() failed")));
return;
}
diff --git a/tools/lint/clang_format.sh b/tools/lint/clang_format.sh
index 3084520..943274d 100755
--- a/tools/lint/clang_format.sh
+++ b/tools/lint/clang_format.sh
@@ -19,11 +19,18 @@
# Find all the C/C++ files in the repo.
# Exclude third-party code. Both in //third_party and the third-party code
# checked in to the main repo directly.
+# Also exclude the pistol grip vtables. Those are likely auto-generated and
+# shouldn't be auto-formatted too.
cc_files=($(git ls-tree --name-only --full-tree -r @ \
| grep -v -e '^third_party/' \
- -e '^motors/core/kinetis.h$' \
- -e '^y2023/vision/rkisp1-config.h$' \
- | (grep -e '\.c$' -e '\.cc$' -e '\.h' || :)))
+ -e '^motors/core/kinetis\.h$' \
+ -e '^motors/core/mk20dx128\.*c$' \
+ -e '^motors/core/nonstd\..*$' \
+ -e '^motors/pistol_grip/vtable_.*\.cc$' \
+ -e '^motors/teensy_loader_cli/' \
+ -e '^motors/usb/usb_' \
+ -e '^y2023/vision/rkisp1-config\.h$' \
+ | (grep -e '\.c$' -e '\.cc$' -e '\.h$' || :)))
# If we have any C/C++ files, format them.
if ((${#cc_files[@]} > 0)); then
diff --git a/tools/lint/run-ci.sh b/tools/lint/run-ci.sh
index 1f5fda4..c8d6501 100755
--- a/tools/lint/run-ci.sh
+++ b/tools/lint/run-ci.sh
@@ -114,7 +114,7 @@
# All the linters that we are going to run.
readonly -a LINTERS=(
- #clang_format
+ clang_format
gofmt
gomod
update_go_repos
diff --git a/tools/rust/forward_allocator.c b/tools/rust/forward_allocator.c
index a321af3..29a77a4 100644
--- a/tools/rust/forward_allocator.c
+++ b/tools/rust/forward_allocator.c
@@ -24,29 +24,28 @@
__attribute__((weak)) uint8_t __rust_alloc_error_handler_should_panic = 0;
uint8_t *__rdl_alloc(uintptr_t size, uintptr_t align);
-__attribute__((weak))
-uint8_t *__rust_alloc(uintptr_t size, uintptr_t align) {
+__attribute__((weak)) uint8_t *__rust_alloc(uintptr_t size, uintptr_t align) {
return __rdl_alloc(size, align);
}
void __rdl_dealloc(uint8_t *ptr, uintptr_t size, uintptr_t align);
-__attribute__((weak))
-void __rust_dealloc(uint8_t *ptr, uintptr_t size, uintptr_t align) {
+__attribute__((weak)) void __rust_dealloc(uint8_t *ptr, uintptr_t size,
+ uintptr_t align) {
__rdl_dealloc(ptr, size, align);
}
uint8_t *__rdl_realloc(uint8_t *ptr, uintptr_t old_size, uintptr_t align,
uintptr_t new_size);
-__attribute__((weak))
-uint8_t *__rust_realloc(uint8_t *ptr, uintptr_t old_size, uintptr_t align,
- uintptr_t new_size) {
+__attribute__((weak)) uint8_t *__rust_realloc(uint8_t *ptr, uintptr_t old_size,
+ uintptr_t align,
+ uintptr_t new_size) {
return __rdl_realloc(ptr, old_size, align, new_size);
}
uint8_t *__rdl_alloc_zeroed(uintptr_t size, uintptr_t align);
-__attribute__((weak))
-uint8_t *__rust_alloc_zeroed(uintptr_t size, uintptr_t align) {
+__attribute__((weak)) uint8_t *__rust_alloc_zeroed(uintptr_t size,
+ uintptr_t align) {
return __rdl_alloc_zeroed(size, align);
}
void __rdl_oom(uintptr_t size, uintptr_t align);
-__attribute__((weak))
-void __rust_alloc_error_handler(uintptr_t size, uintptr_t align) {
+__attribute__((weak)) void __rust_alloc_error_handler(uintptr_t size,
+ uintptr_t align) {
__rdl_oom(size, align);
}
diff --git a/y2014/actors/shoot_actor.cc b/y2014/actors/shoot_actor.cc
index aad64e8..0719062 100644
--- a/y2014/actors/shoot_actor.cc
+++ b/y2014/actors/shoot_actor.cc
@@ -3,7 +3,6 @@
#include <functional>
#include "aos/logging/logging.h"
-
#include "y2014/constants.h"
#include "y2014/control_loops/claw/claw_goal_generated.h"
#include "y2014/control_loops/claw/claw_status_generated.h"
@@ -63,8 +62,7 @@
claw_builder.add_intake(0.0);
claw_builder.add_centering(0.0);
- if (builder.Send(claw_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(claw_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
return false;
}
@@ -89,8 +87,7 @@
shooter_builder.add_shot_requested(false);
shooter_builder.add_unload_requested(false);
shooter_builder.add_load_requested(false);
- if (builder.Send(shooter_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(shooter_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
return false;
}
@@ -124,8 +121,7 @@
goal_builder.add_shot_requested(true);
goal_builder.add_unload_requested(false);
goal_builder.add_load_requested(false);
- if (builder.Send(goal_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
return;
}
diff --git a/y2014/actors/shoot_actor.h b/y2014/actors/shoot_actor.h
index 88a2358..37dc0c7 100644
--- a/y2014/actors/shoot_actor.h
+++ b/y2014/actors/shoot_actor.h
@@ -16,8 +16,7 @@
class ShootActor
: public ::aos::common::actions::ActorBase<aos::common::actions::Goal> {
public:
- typedef ::aos::common::actions::TypedActionFactory<
- aos::common::actions::Goal>
+ typedef ::aos::common::actions::TypedActionFactory<aos::common::actions::Goal>
Factory;
explicit ShootActor(::aos::EventLoop *event_loop);
diff --git a/y2014/constants.cc b/y2014/constants.cc
index 70f70fe..ff22b8a 100644
--- a/y2014/constants.cc
+++ b/y2014/constants.cc
@@ -10,9 +10,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2014/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2014/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 4b76fd2..2fb93b4 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -953,15 +953,15 @@
if (output) {
if (goal) {
// setup the intake
- output_struct.intake_voltage =
- (goal->intake() > 12.0)
- ? 12
- : (goal->intake() < -12.0) ? -12.0 : goal->intake();
+ output_struct.intake_voltage = (goal->intake() > 12.0) ? 12
+ : (goal->intake() < -12.0)
+ ? -12.0
+ : goal->intake();
output_struct.tusk_voltage = goal->centering();
- output_struct.tusk_voltage =
- (goal->centering() > 12.0)
- ? 12
- : (goal->centering() < -12.0) ? -12.0 : goal->centering();
+ output_struct.tusk_voltage = (goal->centering() > 12.0) ? 12
+ : (goal->centering() < -12.0)
+ ? -12.0
+ : goal->centering();
}
output_struct.top_claw_voltage = claw_.U(1, 0);
output_struct.bottom_claw_voltage = claw_.U(0, 0);
diff --git a/y2014/control_loops/claw/claw.h b/y2014/control_loops/claw/claw.h
index 07a5d2a..943e0ad 100644
--- a/y2014/control_loops/claw/claw.h
+++ b/y2014/control_loops/claw/claw.h
@@ -3,10 +3,10 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
-#include "frc971/control_loops/polytope.h"
#include "frc971/control_loops/coerce_goal.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/hall_effect_tracker.h"
+#include "frc971/control_loops/polytope.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2014/constants.h"
#include "y2014/control_loops/claw/claw_goal_generated.h"
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index 3a5fdc5..8886cda 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -3,9 +3,10 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2014/constants.h"
#include "y2014/control_loops/claw/claw.h"
#include "y2014/control_loops/claw/claw_goal_generated.h"
@@ -336,8 +337,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(::std::nan(""));
goal_builder.add_separation_angle(::std::nan(""));
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
SetEnabled(true);
@@ -351,8 +351,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
SetEnabled(true);
@@ -449,8 +448,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
SetEnabled(true);
@@ -618,8 +616,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
TestWindup(ClawMotor::UNKNOWN_LOCATION,
@@ -636,8 +633,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
TestWindup(ClawMotor::UNKNOWN_LOCATION,
@@ -654,8 +650,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
TestWindup(ClawMotor::FINE_TUNE_BOTTOM,
diff --git a/y2014/control_loops/claw/claw_main.cc b/y2014/control_loops/claw/claw_main.cc
index 16803cf..1ad93a7 100644
--- a/y2014/control_loops/claw/claw_main.cc
+++ b/y2014/control_loops/claw/claw_main.cc
@@ -1,7 +1,6 @@
-#include "y2014/control_loops/claw/claw.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2014/control_loops/claw/claw.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index ec383ad..5704691 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -3,8 +3,8 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2014/constants.h"
#include "y2014/control_loops/shooter/shooter_goal_generated.h"
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index 7fd0fbf..d7fc0ea 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -3,10 +3,11 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/network/team_number.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2014/constants.h"
#include "y2014/control_loops/shooter/shooter.h"
#include "y2014/control_loops/shooter/shooter_goal_generated.h"
@@ -404,8 +405,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
@@ -424,8 +424,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1200));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -434,8 +433,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(35.0);
goal_builder.add_shot_requested(true);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
bool hit_fire = false;
@@ -472,8 +470,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
@@ -483,8 +480,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(0.0);
goal_builder.add_shot_requested(true);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
bool hit_fire = false;
@@ -521,8 +517,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(500.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
monotonic_clock::time_point(chrono::milliseconds(1600))) {
@@ -540,8 +535,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
@@ -550,8 +544,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(14.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -570,8 +563,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -579,8 +571,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
@@ -601,8 +592,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
@@ -615,8 +605,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
@@ -637,8 +626,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -646,8 +634,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
int kicked_delay = 20;
@@ -682,8 +669,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -691,8 +677,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
int kicked_delay = 20;
@@ -732,8 +717,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
// EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
@@ -754,8 +738,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
// EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
@@ -786,8 +769,7 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(120.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
monotonic_clock::time_point(chrono::seconds(2))) {
diff --git a/y2014/control_loops/shooter/shooter_main.cc b/y2014/control_loops/shooter/shooter_main.cc
index c2817d1..3496328 100644
--- a/y2014/control_loops/shooter/shooter_main.cc
+++ b/y2014/control_loops/shooter/shooter_main.cc
@@ -1,7 +1,6 @@
-#include "y2014/control_loops/shooter/shooter.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2014/control_loops/shooter/shooter.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index 4fc3229..5349334 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -393,8 +393,7 @@
: (data.IsPressed(kRollersOut) ? -12.0 : intake_power_));
goal_builder.add_centering(intaking ? 12.0 : 0.0);
- if (builder.Send(goal_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -407,8 +406,7 @@
goal_builder.add_shot_requested(data.IsPressed(kFire));
goal_builder.add_unload_requested(data.IsPressed(kUnload));
goal_builder.add_load_requested(data.IsPressed(kReload));
- if (builder.Send(goal_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
}
}
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
index 89cda1a..6a6ed31 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -35,15 +35,23 @@
chrono::duration_cast<chrono::nanoseconds>(
chrono::duration<double>(drivetrain::kDt)),
- drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
- drivetrain::kHighGearRatio, drivetrain::kLowGearRatio, drivetrain::kJ,
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
+ drivetrain::kJ,
drivetrain::kMass,
// No shifter sensors, so we could put anything for the things below.
- kThreeStateDriveShifter, kThreeStateDriveShifter,
- false /* default_high_gear */, 0.0, 0.60 /* wheel_non_linearity */,
- 0.60 /* quickturn_wheel_multiplier */, 0.7 /* wheel_multiplier */,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ false /* default_high_gear */,
+ 0.0,
+ 0.60 /* wheel_non_linearity */,
+ 0.60 /* quickturn_wheel_multiplier */,
+ 0.7 /* wheel_multiplier */,
};
return kDrivetrainConfig;
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index c17caa9..f993dc4 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -1,7 +1,6 @@
-#include "y2014_bot3/control_loops/rollers/rollers.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2014_bot3/control_loops/rollers/rollers.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 9b25c37..0c48552 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -99,9 +99,8 @@
} else if (data.IsPressed(kHumanPlayer)) {
rollers_goal.human_player = true;
}
- if (builder.Send(control_loops::rollers::Goal::Pack(*builder.fbb(),
- &rollers_goal)) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(control_loops::rollers::Goal::Pack(
+ *builder.fbb(), &rollers_goal)) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "Sending rollers values failed.\n");
}
}
diff --git a/y2014_bot3/shifter_hall_effect.h b/y2014_bot3/shifter_hall_effect.h
index abe81e3..a4bdeb8 100644
--- a/y2014_bot3/shifter_hall_effect.h
+++ b/y2014_bot3/shifter_hall_effect.h
@@ -13,8 +13,7 @@
double clear_high, clear_low;
};
-
-} // constants
-} // bot3
+} // namespace constants
+} // namespace bot3
#endif
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 1440aee..a31ac5d 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -79,8 +79,7 @@
goal_builder.add_left_goal(left_current + side_distance_change);
goal_builder.add_right_goal(right_current - side_distance_change);
- if (builder.Send(goal_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending drivetrain goal failed\n");
}
}
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 1ca3ef2..9284bea 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -10,9 +10,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
diff --git a/y2016/control_loops/shooter/shooter.h b/y2016/control_loops/shooter/shooter.h
index c29869c..5aaa1c0 100644
--- a/y2016/control_loops/shooter/shooter.h
+++ b/y2016/control_loops/shooter/shooter.h
@@ -3,9 +3,9 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2016/control_loops/shooter/shooter_goal_generated.h"
#include "y2016/control_loops/shooter/shooter_integral_plant.h"
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index 1ae51fb..1a82b9b 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -3,9 +3,10 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2016/control_loops/shooter/shooter.h"
#include "y2016/control_loops/shooter/shooter_goal_generated.h"
#include "y2016/control_loops/shooter/shooter_output_generated.h"
@@ -173,8 +174,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(0.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(dt() * 3 / 2);
@@ -195,8 +195,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(450.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -207,8 +206,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(0.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Make sure we don't apply voltage on spin-down.
@@ -234,8 +232,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(20.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Cause problems by adding a voltage error on one side.
shooter_plant_.set_right_voltage_offset(-4.0);
@@ -272,8 +269,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(200.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
EXPECT_TRUE(shooter_output_fetcher_.Fetch());
diff --git a/y2016/control_loops/shooter/shooter_main.cc b/y2016/control_loops/shooter/shooter_main.cc
index 0c88ba8..7703bae 100644
--- a/y2016/control_loops/shooter/shooter_main.cc
+++ b/y2016/control_loops/shooter/shooter_main.cc
@@ -1,7 +1,6 @@
-#include "y2016/control_loops/shooter/shooter.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2016/control_loops/shooter/shooter.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 48da666..d22e885 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -3,8 +3,8 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/util/trapezoid_profile.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/zeroing/zeroing.h"
#include "y2016/control_loops/superstructure/superstructure_controls.h"
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index a73883b..a827c00 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -3,12 +3,11 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/util/trapezoid_profile.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/profiled_subsystem.h"
#include "frc971/control_loops/simple_capped_state_feedback_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
-
#include "frc971/zeroing/zeroing.h"
#include "y2016/control_loops/superstructure/integral_arm_plant.h"
#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
@@ -105,7 +104,6 @@
Intake();
};
-
class Arm : public ::frc971::control_loops::ProfiledSubsystem<6, 2> {
public:
Arm();
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index c5e71c5..9609cd0 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/commonmath.h"
#include "aos/time/time.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2016/constants.h"
#include "y2016/control_loops/superstructure/arm_plant.h"
#include "y2016/control_loops/superstructure/intake_plant.h"
@@ -418,8 +419,7 @@
goal_builder.add_max_angular_acceleration_intake(20);
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -442,8 +442,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -469,8 +468,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -497,8 +495,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -526,8 +523,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -556,8 +552,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -592,8 +587,7 @@
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
goal_builder.add_angle_wrist(constants::Values::kWristRange.upper +
constants::Values::kShoulderRange.upper);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// We have to wait for it to put the elevator in a safe position as well.
RunFor(chrono::seconds(15));
@@ -616,8 +610,7 @@
goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// We have to wait for it to put the superstructure in a safe position as
// well.
@@ -642,8 +635,7 @@
goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower + 0.3);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -669,8 +661,7 @@
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower +
0.03);
goal_builder.add_angle_wrist(constants::Values::kWristRange.lower + 0.03);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(100));
@@ -708,8 +699,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Expected states to cycle through and check in order.
@@ -781,8 +771,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Expected states to cycle through and check in order.
@@ -859,8 +848,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -884,8 +872,7 @@
goal_builder.add_angle_shoulder(
constants::Values::kShoulderEncoderIndexDifference * 10);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Run disabled for 2 seconds
@@ -940,8 +927,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -961,8 +947,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// TODO(austin): The profile isn't feasible, so when we try to track it, we
@@ -991,8 +976,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1012,8 +996,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_acceleration(1.20);
@@ -1040,8 +1023,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1062,8 +1044,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_acceleration(1.05);
@@ -1091,8 +1072,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1113,8 +1093,7 @@
goal_builder.add_max_angular_acceleration_shoulder(100);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(100);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(4.65);
@@ -1141,8 +1120,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1162,8 +1140,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(100);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1191,8 +1168,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1213,8 +1189,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1.0);
goal_builder.add_max_angular_velocity_wrist(10.0);
goal_builder.add_max_angular_acceleration_wrist(160.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1242,8 +1217,7 @@
goal_builder.add_angle_shoulder(
constants::Values::kShoulderRange.lower); // Down
goal_builder.add_angle_wrist(0.0); // Stowed
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -1255,8 +1229,7 @@
constants::Values::kIntakeRange.upper); // stowed
goal_builder.add_angle_shoulder(M_PI / 4.0); // in the collision area
goal_builder.add_angle_wrist(M_PI / 2.0); // down
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1288,8 +1261,7 @@
constants::Values::kIntakeRange.upper); // stowed
goal_builder.add_angle_shoulder(M_PI / 2.0); // in the collision area
goal_builder.add_angle_wrist(M_PI); // forward
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1310,8 +1282,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(M_PI); // intentionally asking for forward
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -1338,8 +1309,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(M_PI * 0.5);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1380,8 +1350,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1425,8 +1394,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0); // intentionally asking for forward
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1455,8 +1423,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(M_PI * 0.25);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -1473,8 +1440,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Wait until we hit the transition point.
@@ -1498,8 +1464,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -1516,8 +1481,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Wait until we hit the transition point.
diff --git a/y2016/control_loops/superstructure/superstructure_main.cc b/y2016/control_loops/superstructure/superstructure_main.cc
index ff25ae1..ba962af 100644
--- a/y2016/control_loops/superstructure/superstructure_main.cc
+++ b/y2016/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2016/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2016/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index a7cc821..56b10d7 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -8,9 +8,6 @@
#include <thread>
#include <vector>
-#include "internal/Embedded.h"
-#include "seasocks/Server.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
@@ -20,6 +17,8 @@
#include "aos/time/time.h"
#include "aos/util/phased_loop.h"
#include "frc971/autonomous/auto_mode_generated.h"
+#include "internal/Embedded.h"
+#include "seasocks/Server.h"
#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
#include "y2016/queues/ball_detector_generated.h"
#include "y2016/vision/vision_generated.h"
diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
index b4d5034..9b6414e 100644
--- a/y2016/dashboard/dashboard.h
+++ b/y2016/dashboard/dashboard.h
@@ -9,15 +9,14 @@
#include <thread>
#include <vector>
-#include "seasocks/PageHandler.h"
-#include "seasocks/PrintfLogger.h"
-#include "seasocks/StringUtil.h"
-#include "seasocks/WebSocket.h"
-
#include "aos/events/event_loop.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "frc971/autonomous/auto_mode_generated.h"
+#include "seasocks/PageHandler.h"
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
#include "y2016/queues/ball_detector_generated.h"
#include "y2016/vision/vision_generated.h"
diff --git a/y2016/vision/blob_filters.cc b/y2016/vision/blob_filters.cc
index 860fa80..0193ef6 100644
--- a/y2016/vision/blob_filters.cc
+++ b/y2016/vision/blob_filters.cc
@@ -1,4 +1,5 @@
#include "y2016/vision/blob_filters.h"
+
#include <unistd.h>
namespace aos {
@@ -75,7 +76,7 @@
if (do_overlay_) {
for (FittedLine &line : lines) {
overlay_->AddLine(Vector<2>(line.st.x, line.st.y),
- Vector<2>(line.ed.x, line.ed.y), {255, 0, 0});
+ Vector<2>(line.ed.x, line.ed.y), {255, 0, 0});
}
}
diff --git a/y2016/vision/stereo_geometry.h b/y2016/vision/stereo_geometry.h
index f1ffe51..c18abc5 100644
--- a/y2016/vision/stereo_geometry.h
+++ b/y2016/vision/stereo_geometry.h
@@ -5,7 +5,6 @@
#include "aos/logging/logging.h"
#include "aos/vision/math/vector.h"
-
#include "y2016/vision/calibration.pb.h"
namespace y2016 {
diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index ef99b72..ac60f23 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -66,9 +66,7 @@
void set_intake_max_velocity(double intake_max_velocity) {
intake_max_velocity_ = intake_max_velocity;
}
- void set_gear_servo(double gear_servo) {
- gear_servo_ = gear_servo;
- }
+ void set_gear_servo(double gear_servo) { gear_servo_ = gear_servo; }
void set_use_vision_for_shots(bool use_vision_for_shots) {
use_vision_for_shots_ = use_vision_for_shots;
}
@@ -116,19 +114,19 @@
indexer_offset = indexer_builder.Finish();
flatbuffers::Offset<frc971::ProfileParameters>
- turret_profile_parameters_offset = frc971::CreateProfileParameters(
- *builder.fbb(), 6.0, 15.0);
+ turret_profile_parameters_offset =
+ frc971::CreateProfileParameters(*builder.fbb(), 6.0, 15.0);
control_loops::superstructure::TurretGoal::Builder turret_builder =
builder.MakeBuilder<control_loops::superstructure::TurretGoal>();
turret_builder.add_angle(turret_goal_);
turret_builder.add_track(vision_track_);
turret_builder.add_profile_params(turret_profile_parameters_offset);
- flatbuffers::Offset<control_loops::superstructure::TurretGoal> turret_offset =
- turret_builder.Finish();
+ flatbuffers::Offset<control_loops::superstructure::TurretGoal>
+ turret_offset = turret_builder.Finish();
flatbuffers::Offset<frc971::ProfileParameters>
- hood_profile_parameters_offset = frc971::CreateProfileParameters(
- *builder.fbb(), 5.0, 25.0);
+ hood_profile_parameters_offset =
+ frc971::CreateProfileParameters(*builder.fbb(), 5.0, 25.0);
control_loops::superstructure::HoodGoal::Builder hood_builder =
builder.MakeBuilder<control_loops::superstructure::HoodGoal>();
hood_builder.add_angle(hood_goal_);
diff --git a/y2017/constants.cc b/y2017/constants.cc
index 1594de7..b27c3b7 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -10,9 +10,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2017/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index 8f36085..9acd190 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -6,6 +6,7 @@
#include <utility>
#include "Eigen/Dense"
+
#include "aos/commonmath.h"
#include "frc971/constants.h"
#include "frc971/control_loops/profiled_subsystem.h"
diff --git a/y2017/control_loops/superstructure/column/column_zeroing.cc b/y2017/control_loops/superstructure/column/column_zeroing.cc
index 7d5937a..53bec5f 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing.cc
+++ b/y2017/control_loops/superstructure/column/column_zeroing.cc
@@ -69,10 +69,10 @@
flatbuffers::Offset<ColumnZeroingEstimator::State>
ColumnZeroingEstimator::GetEstimatorState(
flatbuffers::FlatBufferBuilder *fbb) const {
- flatbuffers::Offset<frc971::HallEffectAndPositionEstimatorState> indexer_offset =
- indexer_.GetEstimatorState(fbb);
- flatbuffers::Offset<frc971::HallEffectAndPositionEstimatorState> turret_offset =
- turret_.GetEstimatorState(fbb);
+ flatbuffers::Offset<frc971::HallEffectAndPositionEstimatorState>
+ indexer_offset = indexer_.GetEstimatorState(fbb);
+ flatbuffers::Offset<frc971::HallEffectAndPositionEstimatorState>
+ turret_offset = turret_.GetEstimatorState(fbb);
State::Builder state_builder(*fbb);
state_builder.add_indexer(indexer_offset);
@@ -84,5 +84,5 @@
} // namespace column
} // namespace superstructure
-} // control_loops
-} // y2017
+} // namespace control_loops
+} // namespace y2017
diff --git a/y2017/control_loops/superstructure/column/column_zeroing.h b/y2017/control_loops/superstructure/column/column_zeroing.h
index 8c2cbf3..a7fe47b 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing.h
+++ b/y2017/control_loops/superstructure/column/column_zeroing.h
@@ -29,9 +29,7 @@
bool offset_ready() const { return offset_ready_; }
- bool error() const {
- return error_ || indexer_.error() || turret_.error();
- }
+ bool error() const { return error_ || indexer_.error() || turret_.error(); }
bool zeroed() const {
return zeroed_ && indexer_.zeroed() && turret_.zeroed();
@@ -67,9 +65,9 @@
const double turret_zeroed_distance_;
};
-} // column
-} // superstructure
-} // control_loops
-} // y2017
+} // namespace column
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2017
#endif // y2017_CONTROL_LOOPS_SUPERSTRUCTURE_COLUMN_H_
diff --git a/y2017/control_loops/superstructure/column/column_zeroing_test.cc b/y2017/control_loops/superstructure/column/column_zeroing_test.cc
index af0eb15..ef32beb 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing_test.cc
+++ b/y2017/control_loops/superstructure/column/column_zeroing_test.cc
@@ -1,17 +1,20 @@
+#include "y2017/control_loops/superstructure/column/column_zeroing.h"
+
#include <unistd.h>
+
#include <memory>
#include <random>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/die.h"
#include "aos/flatbuffers.h"
#include "aos/json_to_flatbuffer.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "frc971/zeroing/zeroing.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
#include "y2017/constants.h"
-#include "y2017/control_loops/superstructure/column/column_zeroing.h"
namespace y2017 {
namespace control_loops {
@@ -66,8 +69,8 @@
column_position_builder.add_turret(turret_offset);
fbb.Finish(column_position_builder.Finish());
-
- aos::FlatbufferDetachedBuffer<ColumnPosition> column_position(fbb.Release());
+ aos::FlatbufferDetachedBuffer<ColumnPosition> column_position(
+ fbb.Release());
LOG(INFO) << "Position: " << aos::FlatbufferToJson(column_position);
column_zeroing_estimator_.UpdateEstimate(column_position.message());
diff --git a/y2017/control_loops/superstructure/intake/intake.h b/y2017/control_loops/superstructure/intake/intake.h
index cba3318..a91d2f0 100644
--- a/y2017/control_loops/superstructure/intake/intake.h
+++ b/y2017/control_loops/superstructure/intake/intake.h
@@ -21,7 +21,8 @@
// intake to stay out far enough to avoid collisions.
void set_min_position(double min_position) { min_position_ = min_position; }
- // Moves min_position_ to a position which won't affect any other goal requests.
+ // Moves min_position_ to a position which won't affect any other goal
+ // requests.
void clear_min_position() {
min_position_ = constants::Values::kIntakeRange.lower_hard;
}
diff --git a/y2017/control_loops/superstructure/shooter/shooter.h b/y2017/control_loops/superstructure/shooter/shooter.h
index afb627d..44da1dc 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.h
+++ b/y2017/control_loops/superstructure/shooter/shooter.h
@@ -4,11 +4,11 @@
#include <array>
#include <memory>
-#include "frc971/control_loops/control_loop.h"
-#include "aos/time/time.h"
-#include "frc971/control_loops/state_feedback_loop.h"
#include "Eigen/Dense"
+#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
#include "y2017/control_loops/superstructure/shooter/shooter_integral_plant.h"
#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
diff --git a/y2017/control_loops/superstructure/superstructure.h b/y2017/control_loops/superstructure/superstructure.h
index ae52dae..c10ebbd 100644
--- a/y2017/control_loops/superstructure/superstructure.h
+++ b/y2017/control_loops/superstructure/superstructure.h
@@ -3,8 +3,8 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2017/control_loops/superstructure/column/column.h"
#include "y2017/control_loops/superstructure/hood/hood.h"
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 2c97475..e7fd0ff 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,10 +3,11 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/column/column_plant.h"
#include "y2017/control_loops/superstructure/hood/hood_plant.h"
@@ -636,8 +637,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -693,8 +693,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -741,8 +740,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
VerifyNearGoal();
@@ -793,8 +791,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(23.0);
superstructure_plant_.set_peak_turret_velocity(23.0);
@@ -849,8 +846,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(0.2);
@@ -912,8 +908,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -971,8 +966,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1032,8 +1026,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1095,8 +1088,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1154,8 +1146,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1203,8 +1194,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1251,8 +1241,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1284,8 +1273,7 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
{
auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -1317,8 +1305,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(100));
@@ -1371,8 +1358,7 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Run disabled for 2 seconds
@@ -1442,8 +1428,7 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1479,8 +1464,7 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Make sure we don't apply voltage on spin-down.
@@ -1526,8 +1510,7 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
EXPECT_EQ(nullptr, superstructure_output_fetcher_.get());
@@ -1573,8 +1556,7 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1676,8 +1658,7 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
diff --git a/y2017/control_loops/superstructure/superstructure_main.cc b/y2017/control_loops/superstructure/superstructure_main.cc
index f113477..42a5a23 100644
--- a/y2017/control_loops/superstructure/superstructure_main.cc
+++ b/y2017/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2017/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2017/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2017/control_loops/superstructure/vision_distance_average_test.cc b/y2017/control_loops/superstructure/vision_distance_average_test.cc
index bc0fc9a..e1a406b 100644
--- a/y2017/control_loops/superstructure/vision_distance_average_test.cc
+++ b/y2017/control_loops/superstructure/vision_distance_average_test.cc
@@ -1,8 +1,9 @@
#include "y2017/control_loops/superstructure/vision_distance_average.h"
-#include "aos/flatbuffers.h"
#include "gtest/gtest.h"
+#include "aos/flatbuffers.h"
+
namespace y2017 {
namespace control_loops {
namespace superstructure {
@@ -14,9 +15,7 @@
return current_time_;
}
- VisionDistanceAverage* average() {
- return &average_;
- }
+ VisionDistanceAverage *average() { return &average_; }
void TickInvalid() {
flatbuffers::FlatBufferBuilder fbb;
@@ -43,9 +42,7 @@
average_.Tick(tick_time(), &status.message());
}
- void TickNullptr() {
- average_.Tick(tick_time(), nullptr);
- }
+ void TickNullptr() { average_.Tick(tick_time(), nullptr); }
private:
::aos::monotonic_clock::time_point current_time_ =
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
index 66c3627..125a960 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
@@ -1,11 +1,12 @@
#include "y2017/control_loops/superstructure/vision_time_adjuster.h"
+#include "gtest/gtest.h"
+
#include "aos/configuration.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/test_logging.h"
#include "aos/time/time.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
-#include "gtest/gtest.h"
#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2017/vision/vision_generated.h"
diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index fd8dc38..7cd2aaf 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -292,8 +292,7 @@
goal_builder.add_hood(hood_goal_offset);
goal_builder.add_shooter(shooter_goal_offset);
- if (builder.Send(goal_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
diff --git a/y2017/vision/debug_viewer.cc b/y2017/vision/debug_viewer.cc
index 10dd57e..79b9800 100644
--- a/y2017/vision/debug_viewer.cc
+++ b/y2017/vision/debug_viewer.cc
@@ -1,18 +1,18 @@
-#include <Eigen/Dense>
#include <iostream>
-#include "y2017/vision/target_finder.h"
+#include <Eigen/Dense>
#include "aos/vision/blob/move_scale.h"
#include "aos/vision/blob/stream_view.h"
#include "aos/vision/blob/transpose.h"
#include "aos/vision/debug/debug_framework.h"
#include "aos/vision/math/vector.h"
+#include "y2017/vision/target_finder.h"
-using aos::vision::ImageRange;
-using aos::vision::ImageFormat;
-using aos::vision::RangeImage;
using aos::vision::BlobList;
+using aos::vision::ImageFormat;
+using aos::vision::ImageRange;
+using aos::vision::RangeImage;
namespace y2017 {
namespace vision {
diff --git a/y2017/vision/target_finder.h b/y2017/vision/target_finder.h
index 5ee143d..34fd90d 100644
--- a/y2017/vision/target_finder.h
+++ b/y2017/vision/target_finder.h
@@ -6,9 +6,9 @@
#include "aos/vision/debug/overlay.h"
#include "aos/vision/math/vector.h"
+using aos::vision::BlobList;
using aos::vision::ImageRange;
using aos::vision::RangeImage;
-using aos::vision::BlobList;
using aos::vision::Vector;
namespace y2017 {
@@ -71,7 +71,7 @@
aos::vision::PixelLinesOverlay *GetOverlay() { return &overlay_; }
// Convert target location into meters and radians.
- void GetAngleDist(const aos::vision::Vector<2>& target, double down_angle,
+ void GetAngleDist(const aos::vision::Vector<2> &target, double down_angle,
double *dist, double *angle);
private:
diff --git a/y2017/vision/target_sender.cc b/y2017/vision/target_sender.cc
index 397eb04..a198cd2 100644
--- a/y2017/vision/target_sender.cc
+++ b/y2017/vision/target_sender.cc
@@ -1,5 +1,3 @@
-#include <google/protobuf/io/zero_copy_stream_impl.h>
-#include <google/protobuf/text_format.h>
#include <sys/stat.h>
#include <cstdio>
@@ -10,6 +8,9 @@
#include <thread>
#include <vector>
+#include <google/protobuf/io/zero_copy_stream_impl.h>
+#include <google/protobuf/text_format.h>
+
#include "aos/logging/implementations.h"
#include "aos/logging/logging.h"
#include "aos/time/time.h"
diff --git a/y2018/constants.cc b/y2018/constants.cc
index 5a180ef..189ea5b 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -9,9 +9,10 @@
#include "sanitizer/lsan_interface.h"
#endif
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2018/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
diff --git a/y2018/constants.h b/y2018/constants.h
index 6adcb8a..8bc5fbc 100644
--- a/y2018/constants.h
+++ b/y2018/constants.h
@@ -5,8 +5,8 @@
#include <cstdint>
#include "frc971/constants.h"
-#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index cfb8a9a..9168b4b 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -35,15 +35,22 @@
chrono::duration_cast<chrono::nanoseconds>(
chrono::duration<double>(drivetrain::kDt)),
- drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
+ drivetrain::kRobotRadius,
+ drivetrain::kWheelRadius,
+ drivetrain::kV,
- drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
+ drivetrain::kHighGearRatio,
+ drivetrain::kLowGearRatio,
drivetrain::kJ,
drivetrain::kMass,
- kThreeStateDriveShifter, kThreeStateDriveShifter,
- true /* default_high_gear */, 0 /* down_offset if using constants use
- constants::GetValues().down_error */,
- 0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
+ kThreeStateDriveShifter,
+ kThreeStateDriveShifter,
+ true /* default_high_gear */,
+ 0 /* down_offset if using constants use
+ constants::GetValues().down_error */
+ ,
+ 0.8 /* wheel_non_linearity */,
+ 1.2 /* quickturn_wheel_multiplier */,
1.5 /* wheel_multiplier */,
};
diff --git a/y2018/control_loops/python/2d_plot.cc b/y2018/control_loops/python/2d_plot.cc
index 9fb1a35..1d2a686 100644
--- a/y2018/control_loops/python/2d_plot.cc
+++ b/y2018/control_loops/python/2d_plot.cc
@@ -8,8 +8,7 @@
DEFINE_double(yrange, 1.0, "+- y max");
double fx(double x, double yrange) {
- return 2.0 * ((1.0 / (1.0 + ::std::exp(-x * 2.0 / yrange)) - 0.5)) *
- yrange;
+ return 2.0 * ((1.0 / (1.0 + ::std::exp(-x * 2.0 / yrange)) - 0.5)) * yrange;
}
int main(int argc, char **argv) {
@@ -32,5 +31,4 @@
matplotlibcpp::plot(x, slope_y, {{"label", "slope"}});
matplotlibcpp::legend();
matplotlibcpp::show();
-
}
diff --git a/y2018/control_loops/python/arm_bounds.h b/y2018/control_loops/python/arm_bounds.h
index b69f661..c175616 100644
--- a/y2018/control_loops/python/arm_bounds.h
+++ b/y2018/control_loops/python/arm_bounds.h
@@ -25,7 +25,6 @@
typedef K::Line_2 Line;
typedef K::Vector_2 Vector;
-
// Returns true if the point p3 is to the left of the vector from p1 to p2.
inline bool is_left(Point p1, Point p2, Point p3) {
switch (CGAL::orientation(p1, p2, p3)) {
@@ -91,9 +90,9 @@
{bbox.xmin(), bbox.ymax()}};
return std::vector<Segment>({{points[0], points[1]},
- {points[1], points[2]},
- {points[2], points[3]},
- {points[3], points[0]}});
+ {points[1], points[2]},
+ {points[2], points[3]},
+ {points[3], points[0]}});
}
static bool check_inside(Point pt, const std::vector<Point> &points) {
diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index ab5deea..0749e3f 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -4,9 +4,9 @@
#include <iostream>
#include "aos/logging/logging.h"
-#include "y2018/constants.h"
#include "frc971/control_loops/double_jointed_arm/demo_path.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/constants.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
@@ -172,7 +172,7 @@
break;
}
}
- [[fallthrough]];
+ [[fallthrough]];
case State::GOTO_PATH:
if (outputs_disabled) {
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 51d6c4d..0b0a6a4 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -2,18 +2,18 @@
#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
#include "aos/time/time.h"
-#include "frc971/zeroing/zeroing.h"
-#include "y2018/constants.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "frc971/control_loops/double_jointed_arm/graph.h"
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+#include "frc971/zeroing/zeroing.h"
+#include "y2018/constants.h"
+#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
-using frc971::control_loops::arm::TrajectoryFollower;
using frc971::control_loops::arm::EKF;
+using frc971::control_loops::arm::TrajectoryFollower;
namespace y2018 {
namespace control_loops {
diff --git a/y2018/control_loops/superstructure/arm/arm_constants.h b/y2018/control_loops/superstructure/arm/arm_constants.h
index 1697a8e..932da7a 100644
--- a/y2018/control_loops/superstructure/arm/arm_constants.h
+++ b/y2018/control_loops/superstructure/arm/arm_constants.h
@@ -44,10 +44,9 @@
.num_distal_motors = 2.0,
};
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2018
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2018/control_loops/superstructure/arm/trajectory_plot.cc b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
index 0cee664..7fdde3f 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,9 +1,10 @@
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "frc971/analysis/in_process_plotter.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
-#include "gflags/gflags.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
diff --git a/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 63adbb2..6621794 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -3,9 +3,9 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2018/control_loops/superstructure/arm/arm.h"
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 54342c5..b142420 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/control_loop_test.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2018/constants.h"
-#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
@@ -414,8 +415,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -446,8 +446,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -476,8 +475,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -516,8 +514,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -561,8 +558,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
{
@@ -580,8 +576,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -609,8 +604,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -639,8 +633,7 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -688,8 +681,7 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
EXPECT_EQ(arm::Arm::State::RUNNING, superstructure_.arm().state());
@@ -713,8 +705,7 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -736,8 +727,7 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -764,8 +754,7 @@
goal_builder.add_arm_goal_position(arm::BackLowBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -787,8 +776,7 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc
index 108cbdf..5bf15ad 100644
--- a/y2018/control_loops/superstructure/superstructure_main.cc
+++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2018/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2018/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index be7be1f..f71aec3 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -1,4 +1,3 @@
-#include <google/protobuf/stubs/stringprintf.h>
#include <unistd.h>
#include <cmath>
@@ -6,6 +5,8 @@
#include <cstring>
#include <mutex>
+#include <google/protobuf/stubs/stringprintf.h>
+
#include "aos/actions/actions.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
diff --git a/y2018/vision/image_streamer.cc b/y2018/vision/image_streamer.cc
index fb60f1d..26e7ca1 100644
--- a/y2018/vision/image_streamer.cc
+++ b/y2018/vision/image_streamer.cc
@@ -1,25 +1,26 @@
-#include "aos/vision/image/image_stream.h"
-
#include <sys/stat.h>
+
#include <deque>
#include <fstream>
#include <string>
+#include "gflags/gflags.h"
+
#include "aos/logging/implementations.h"
#include "aos/logging/logging.h"
#include "aos/vision/blob/codec.h"
#include "aos/vision/events/socket_types.h"
#include "aos/vision/events/udp.h"
+#include "aos/vision/image/image_stream.h"
#include "aos/vision/image/reader.h"
-#include "gflags/gflags.h"
#include "y2018/vision.pb.h"
+using ::aos::monotonic_clock;
using ::aos::events::DataSocket;
using ::aos::events::RXUdpSocket;
using ::aos::events::TCPServer;
using ::aos::vision::DataRef;
using ::aos::vision::Int32Codec;
-using ::aos::monotonic_clock;
using ::y2018::VisionControl;
DEFINE_bool(single_camera, true, "If true, only use video0");
@@ -286,7 +287,7 @@
bool active_ = false;
};
-int main(int argc, char ** argv) {
+int main(int argc, char **argv) {
gflags::ParseCommandLineFlags(&argc, &argv, false);
TCPServer<MjpegDataSocket> tcp_server_(80);
@@ -294,7 +295,7 @@
params0.set_exposure(FLAGS_camera0_exposure);
params0.set_brightness(-40);
params0.set_width(320);
- //params0.set_fps(10);
+ // params0.set_fps(10);
params0.set_height(240);
aos::vision::CameraParams params1 = params0;
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 1fd72e8..9f5255d 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -11,6 +11,7 @@
#include <thread>
#include "ctre/phoenix/CANifier.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Compressor.h"
#include "frc971/wpilib/ahal/Counter.h"
diff --git a/y2019/constants.cc b/y2019/constants.cc
index cc81f53..10582ed 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -8,9 +8,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2019/control_loops/superstructure/elevator/integral_elevator_plant.h"
#include "y2019/control_loops/superstructure/intake/integral_intake_plant.h"
#include "y2019/control_loops/superstructure/stilts/integral_stilts_plant.h"
diff --git a/y2019/control_loops/drivetrain/drivetrain_replay.cc b/y2019/control_loops/drivetrain/drivetrain_replay.cc
index 26c87e8..d9d928c 100644
--- a/y2019/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_replay.cc
@@ -1,14 +1,15 @@
#include <iostream>
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
-#include "aos/events/logging/log_writer.h"
#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "gflags/gflags.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.h b/y2019/control_loops/drivetrain/event_loop_localizer.h
index a78f3a2..0847479 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.h
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.h
@@ -66,9 +66,7 @@
Localizer::State Xhat() const override { return localizer_.X_hat(); }
- TargetSelector *target_selector() override {
- return &target_selector_;
- }
+ TargetSelector *target_selector() override { return &target_selector_; }
private:
void HandleFrame(const CameraFrame *frame);
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 4d6f84a..016e3b7 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -1,11 +1,12 @@
#include <queue>
+#include "gtest/gtest.h"
+
#include "aos/network/team_number.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2019/control_loops/drivetrain/camera_generated.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
diff --git a/y2019/control_loops/drivetrain/localizer.h b/y2019/control_loops/drivetrain/localizer.h
index 818e1b9..2e7c3a5 100644
--- a/y2019/control_loops/drivetrain/localizer.h
+++ b/y2019/control_loops/drivetrain/localizer.h
@@ -95,15 +95,13 @@
dhdx;
make_h_queue_.CorrectKnownHBuilder(
z, nullptr,
- ExpectedObservationBuilder(this, camera, targets, &h_functions,
- &dhdx),
+ ExpectedObservationBuilder(this, camera, targets, &h_functions, &dhdx),
R, t);
// Fetch cache:
for (size_t ii = 1; ii < targets.size(); ++ii) {
TargetViewToMatrices(targets[ii], &z, &R);
h_queue_.CorrectKnownH(
- z, nullptr,
- ExpectedObservationFunctor(h_functions[ii], dhdx[ii]), R,
+ z, nullptr, ExpectedObservationFunctor(h_functions[ii], dhdx[ii]), R,
t);
}
}
@@ -189,8 +187,8 @@
const State &state, const StateSquare &P) {
HFunction h;
Eigen::Matrix<Scalar, kNOutputs, kNStates> dhdx;
- localizer_->MakeH(camera_, target_views_, h_functions_, dhdx_,
- state, P, &h, &dhdx);
+ localizer_->MakeH(camera_, target_views_, h_functions_, dhdx_, state, P,
+ &h, &dhdx);
functor_.emplace(h, dhdx);
return &functor_.value();
}
@@ -410,8 +408,7 @@
if (view_idx >= camera_views.size()) {
AOS_LOG(ERROR, "Somehow, the view scorer failed.\n");
h_functions->emplace_back();
- dhdx->push_back(
- Eigen::Matrix<Scalar, kNOutputs, kNStates>::Zero());
+ dhdx->push_back(Eigen::Matrix<Scalar, kNOutputs, kNStates>::Zero());
continue;
}
const Eigen::Matrix<Scalar, kNOutputs, kNStates> best_H =
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 1c9485a..28f0235 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -3,15 +3,17 @@
#include <queue>
#include <random>
+#include "gflags/gflags.h"
+
#include "aos/testing/random_seed.h"
#include "aos/testing/test_shm.h"
#include "frc971/control_loops/drivetrain/splinedrivetrain.h"
#include "frc971/control_loops/drivetrain/trajectory.h"
-#include "gflags/gflags.h"
#if defined(SUPPORT_PLOT)
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
#endif
#include "gtest/gtest.h"
+
#include "y2019/constants.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
@@ -490,9 +492,9 @@
const double left_enc = state(StateIdx::kLeftEncoder, 0);
const double right_enc = state(StateIdx::kRightEncoder, 0);
- const double gyro = (state(StateIdx::kRightVelocity) -
- state(StateIdx::kLeftVelocity)) /
- dt_config_.robot_radius / 2.0;
+ const double gyro =
+ (state(StateIdx::kRightVelocity) - state(StateIdx::kLeftVelocity)) /
+ dt_config_.robot_radius / 2.0;
const TestLocalizer::State xdot = DiffEq(state, U);
const Eigen::Vector3d accel(
localizer_.CalcLongitudinalVelocity(xdot) -
diff --git a/y2019/control_loops/drivetrain/replay_localizer.cc b/y2019/control_loops/drivetrain/replay_localizer.cc
index 3687e3d..b7d269b 100644
--- a/y2019/control_loops/drivetrain/replay_localizer.cc
+++ b/y2019/control_loops/drivetrain/replay_localizer.cc
@@ -1,5 +1,7 @@
#include <fcntl.h>
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "aos/logging/implementations.h"
#include "aos/logging/replay.h"
@@ -8,7 +10,6 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/localizer.q.h"
#include "frc971/wpilib/imu.q.h"
-#include "gflags/gflags.h"
#include "y2019/constants.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
@@ -29,9 +30,10 @@
namespace drivetrain {
using ::y2019::constants::Field;
-typedef TypedLocalizer<
- constants::Values::kNumCameras, Field::kNumTargets, Field::kNumObstacles,
- EventLoopLocalizer::kMaxTargetsPerFrame, double> TestLocalizer;
+typedef TypedLocalizer<constants::Values::kNumCameras, Field::kNumTargets,
+ Field::kNumObstacles,
+ EventLoopLocalizer::kMaxTargetsPerFrame, double>
+ TestLocalizer;
typedef typename TestLocalizer::Camera TestCamera;
typedef typename TestCamera::Pose Pose;
typedef typename TestCamera::LineSegment Obstacle;
@@ -42,7 +44,7 @@
const ::std::map<::std::string, ::std::string> &kwargs) {
::std::vector<double> x;
::std::vector<double> y;
- for (const Pose & p : poses) {
+ for (const Pose &p : poses) {
x.push_back(p.abs_pos().x());
y.push_back(p.abs_pos().y());
}
@@ -336,8 +338,8 @@
// Whether the robot has been enabled yet.
bool has_been_enabled_ = false;
// Cache of last gyro value to forward to the localizer.
- double latest_gyro_ = 0.0; // rad/sec
- double battery_voltage_ = 12.0; // volts
+ double latest_gyro_ = 0.0; // rad/sec
+ double battery_voltage_ = 12.0; // volts
::Eigen::Matrix<double, 2, 1> last_U_{0, 0};
::Eigen::Matrix<double, 2, 1> last_last_U_{0, 0};
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index b60085c..d4ef6da 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -1,7 +1,8 @@
#include "y2019/control_loops/drivetrain/target_selector.h"
-#include "aos/events/simulated_event_loop.h"
#include "gtest/gtest.h"
+
+#include "aos/events/simulated_event_loop.h"
#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
namespace y2019 {
@@ -81,8 +82,7 @@
builder.MakeBuilder<superstructure::Goal>();
goal_builder.add_suction(suction_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
{
auto builder = target_selector_hint_sender_.MakeBuilder();
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 338864e..ac88cec 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -74,7 +74,8 @@
// elevator is below kElevatorClearHeight.
static constexpr double kWristElevatorCollisionMinAngle = -M_PI / 4.0;
static constexpr double kWristElevatorCollisionMaxAngle = M_PI / 4.0;
- static constexpr double kWristElevatorCollisionMaxAngleWithoutObject = M_PI / 6.0;
+ static constexpr double kWristElevatorCollisionMaxAngleWithoutObject =
+ M_PI / 6.0;
// Tolerance for the elevator.
static constexpr double kEps = 0.02;
diff --git a/y2019/control_loops/superstructure/collision_avoidance_tests.cc b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
index 9ea373e..68449d6 100644
--- a/y2019/control_loops/superstructure/collision_avoidance_tests.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
@@ -1,8 +1,8 @@
-#include "y2019/control_loops/superstructure/collision_avoidance.h"
+#include "gtest/gtest.h"
#include "aos/commonmath.h"
#include "aos/flatbuffers.h"
-#include "gtest/gtest.h"
+#include "y2019/control_loops/superstructure/collision_avoidance.h"
#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
@@ -81,8 +81,7 @@
wrist_offset = wrist_builder.Finish();
}
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
- elevator_offset;
+ flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus> elevator_offset;
{
PotAndAbsoluteEncoderProfiledJointStatus::Builder elevator_builder(fbb);
@@ -90,8 +89,7 @@
elevator_offset = elevator_builder.Finish();
}
- flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus>
- intake_offset;
+ flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus> intake_offset;
{
AbsoluteEncoderProfiledJointStatus::Builder intake_builder(fbb);
@@ -462,15 +460,15 @@
// Fix Collision Wrist Above Elevator
TEST_P(CollisionAvoidanceTests, FixWristElevatorCollision) {
// changes the goals
- unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal ( 0.0);
- unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal ( 0.0);
- unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal (
+ unsafe_goal_.mutable_message()->mutable_wrist()->mutate_unsafe_goal(0.0);
+ unsafe_goal_.mutable_message()->mutable_elevator()->mutate_unsafe_goal(0.0);
+ unsafe_goal_.mutable_message()->mutable_intake()->mutate_unsafe_goal(
avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
// sets the status position messgaes
- status_.mutable_message()->mutable_wrist()->mutate_position ( 0.0);
- status_.mutable_message()->mutable_elevator()->mutate_position ( 0.0);
- status_.mutable_message()->mutable_intake()->mutate_position (
+ status_.mutable_message()->mutable_wrist()->mutate_position(0.0);
+ status_.mutable_message()->mutable_elevator()->mutate_position(0.0);
+ status_.mutable_message()->mutable_intake()->mutate_position(
avoidance.kIntakeOutAngle + avoidance.kEpsIntake);
Iterate();
@@ -484,7 +482,7 @@
}
INSTANTIATE_TEST_SUITE_P(CollisionAvoidancePieceTest, CollisionAvoidanceTests,
- ::testing::Bool());
+ ::testing::Bool());
} // namespace testing
} // namespace superstructure
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index f86d64c..f8ad0fd 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -1,8 +1,8 @@
#ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
#define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2019/constants.h"
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 4e51086..a09913b 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
#include <chrono>
#include <memory>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
#include "y2019/constants.h"
#include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
#include "y2019/control_loops/superstructure/intake/intake_plant.h"
@@ -503,8 +504,7 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -553,8 +553,7 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -597,8 +596,7 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
VerifyNearGoal();
@@ -635,8 +633,7 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_elevator_velocity(23.0);
superstructure_plant_.set_peak_elevator_acceleration(0.2);
@@ -688,8 +685,7 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
WaitUntilZeroed();
VerifyNearGoal();
@@ -750,8 +746,7 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -791,8 +786,7 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_roller_voltage(6.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -827,8 +821,7 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_roller_voltage(6.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -870,8 +863,7 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(Vacuum::kTimeAtHigherVoltage - chrono::milliseconds(10));
@@ -915,8 +907,7 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Verify that at 0 pressure after short time voltage is still high
@@ -966,8 +957,7 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Get a Gamepiece
@@ -1004,8 +994,7 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_simulated_pressure(1.0);
diff --git a/y2019/control_loops/superstructure/superstructure_main.cc b/y2019/control_loops/superstructure/superstructure_main.cc
index 5dc1542..35c140c 100644
--- a/y2019/control_loops/superstructure/superstructure_main.cc
+++ b/y2019/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2019/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2019/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2019/control_loops/superstructure/vacuum.cc b/y2019/control_loops/superstructure/vacuum.cc
index 6d4696b..fda123e 100644
--- a/y2019/control_loops/superstructure/vacuum.cc
+++ b/y2019/control_loops/superstructure/vacuum.cc
@@ -44,7 +44,6 @@
last_disable_has_piece_time_ = monotonic_now;
}
-
// If we've had the piece for enough time, go to lower pump_voltage
low_pump_voltage = *has_piece && filtered_pressure_ < kVacuumOnThreshold;
@@ -64,7 +63,8 @@
if (unsafe_goal->grab_piece() && unsafe_goal->gamepiece_mode() == 0) {
output->intake_suction_top = false;
output->intake_suction_bottom = true;
- } else if (unsafe_goal->grab_piece() && unsafe_goal->gamepiece_mode() == 1) {
+ } else if (unsafe_goal->grab_piece() &&
+ unsafe_goal->gamepiece_mode() == 1) {
output->intake_suction_top = true;
output->intake_suction_bottom = true;
} else {
diff --git a/y2019/image_streamer/flip_image.cc b/y2019/image_streamer/flip_image.cc
index a882223..3781d8c 100644
--- a/y2019/image_streamer/flip_image.cc
+++ b/y2019/image_streamer/flip_image.cc
@@ -1,4 +1,4 @@
-#include "flip_image.h"
+#include "y2019/image_streamer/flip_image.h"
#ifdef __clang__
// CImg has undefined behavior that Clang warns about. Just suppress the
diff --git a/y2019/image_streamer/image_streamer.cc b/y2019/image_streamer/image_streamer.cc
index 6640df0..cbb4788 100644
--- a/y2019/image_streamer/image_streamer.cc
+++ b/y2019/image_streamer/image_streamer.cc
@@ -1,26 +1,27 @@
-#include "aos/vision/image/image_stream.h"
-
#include <sys/stat.h>
+
#include <deque>
#include <fstream>
#include <string>
+#include "gflags/gflags.h"
+
#include "aos/logging/implementations.h"
#include "aos/logging/logging.h"
#include "aos/vision/blob/codec.h"
#include "aos/vision/events/socket_types.h"
#include "aos/vision/events/udp.h"
+#include "aos/vision/image/image_stream.h"
#include "aos/vision/image/reader.h"
-#include "gflags/gflags.h"
#include "y2019/image_streamer/flip_image.h"
#include "y2019/vision.pb.h"
+using ::aos::monotonic_clock;
using ::aos::events::DataSocket;
using ::aos::events::RXUdpSocket;
using ::aos::events::TCPServer;
using ::aos::vision::DataRef;
using ::aos::vision::Int32Codec;
-using ::aos::monotonic_clock;
using ::y2019::VisionControl;
DEFINE_string(roborio_ip, "10.9.71.2", "RoboRIO IP Address");
diff --git a/y2019/jevois/camera/image_stream.h b/y2019/jevois/camera/image_stream.h
index dc52bd5..f1ab0af 100644
--- a/y2019/jevois/camera/image_stream.h
+++ b/y2019/jevois/camera/image_stream.h
@@ -1,12 +1,12 @@
#ifndef Y2019_JEVOIS_CAMERA_IMAGE_STREAM_H_
#define Y2019_JEVOIS_CAMERA_IMAGE_STREAM_H_
+#include <memory>
+
#include "aos/vision/events/epoll_events.h"
#include "aos/vision/image/camera_params.pb.h"
#include "y2019/jevois/camera/reader.h"
-#include <memory>
-
namespace y2019 {
namespace camera {
diff --git a/y2019/jevois/camera/reader.cc b/y2019/jevois/camera/reader.cc
index 259e650..84bf7fe 100644
--- a/y2019/jevois/camera/reader.cc
+++ b/y2019/jevois/camera/reader.cc
@@ -13,9 +13,10 @@
#include <cstdlib>
#include <cstring>
-#include "aos/time/time.h"
#include "glog/logging.h"
+#include "aos/time/time.h"
+
#define CLEAR(x) memset(&(x), 0, sizeof(x))
namespace y2019 {
diff --git a/y2019/jevois/cobs_test.cc b/y2019/jevois/cobs_test.cc
index fa4742f..303c4d3 100644
--- a/y2019/jevois/cobs_test.cc
+++ b/y2019/jevois/cobs_test.cc
@@ -1,9 +1,10 @@
#include "y2019/jevois/cobs.h"
#include "absl/types/span.h"
-#include "aos/testing/test_logging.h"
#include "gtest/gtest.h"
+#include "aos/testing/test_logging.h"
+
namespace frc971 {
namespace jevois {
diff --git a/y2019/jevois/spi.h b/y2019/jevois/spi.h
index cdb0dfc..62e5ea7 100644
--- a/y2019/jevois/spi.h
+++ b/y2019/jevois/spi.h
@@ -6,6 +6,7 @@
#include <optional>
#include "absl/types/span.h"
+
#include "y2019/jevois/structures.h"
// This file manages serializing and deserializing the various structures for
diff --git a/y2019/jevois/structures.h b/y2019/jevois/structures.h
index 73705b1..85cca21 100644
--- a/y2019/jevois/structures.h
+++ b/y2019/jevois/structures.h
@@ -7,6 +7,7 @@
#include <cstdint>
#include "Eigen/Dense"
+
#include "aos/containers/sized_array.h"
#include "aos/time/time.h"
diff --git a/y2019/jevois/teensy.cc b/y2019/jevois/teensy.cc
index 95fe186..7c71ae8 100644
--- a/y2019/jevois/teensy.cc
+++ b/y2019/jevois/teensy.cc
@@ -3,6 +3,7 @@
#include <optional>
#include "absl/types/span.h"
+
#include "aos/time/time.h"
#include "motors/core/kinetis.h"
#include "motors/core/time.h"
diff --git a/y2019/jevois/uart.cc b/y2019/jevois/uart.cc
index 9cded62..0fc25c9 100644
--- a/y2019/jevois/uart.cc
+++ b/y2019/jevois/uart.cc
@@ -3,6 +3,7 @@
#include <array>
#include "absl/types/span.h"
+
#include "aos/util/bitpacking.h"
#include "y2019/jevois/jevois_crc.h"
#ifdef __linux__
diff --git a/y2019/jevois/uart.h b/y2019/jevois/uart.h
index 7a7f251..d3eebee 100644
--- a/y2019/jevois/uart.h
+++ b/y2019/jevois/uart.h
@@ -4,6 +4,7 @@
#include <optional>
#include "absl/types/span.h"
+
#include "aos/containers/sized_array.h"
#include "y2019/jevois/cobs.h"
#include "y2019/jevois/structures.h"
diff --git a/y2019/joystick_angle.cc b/y2019/joystick_angle.cc
index 90baf32..986a3fa 100644
--- a/y2019/joystick_angle.cc
+++ b/y2019/joystick_angle.cc
@@ -1,7 +1,8 @@
+#include "y2019/joystick_angle.h"
+
#include <cmath>
#include "frc971/zeroing/wrap.h"
-#include "y2019/joystick_angle.h"
namespace y2019 {
namespace input {
diff --git a/y2019/joystick_angle_test.cc b/y2019/joystick_angle_test.cc
index 7173b80..4d53ca0 100644
--- a/y2019/joystick_angle_test.cc
+++ b/y2019/joystick_angle_test.cc
@@ -2,9 +2,10 @@
#include <iostream>
-#include "frc971/input/driver_station_data.h"
#include "gtest/gtest.h"
+#include "frc971/input/driver_station_data.h"
+
using y2019::input::joysticks::GetJoystickPosition;
using y2019::input::joysticks::JoystickAngle;
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index ed55dfc..4e73f9e 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -5,13 +5,14 @@
#include <cstdio>
#include <cstring>
+#include "external/com_google_protobuf/src/google/protobuf/stubs/stringprintf.h"
+
#include "aos/actions/actions.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
#include "aos/vision/events/udp.h"
-#include "external/com_google_protobuf/src/google/protobuf/stubs/stringprintf.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/input/action_joystick_input.h"
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index fabe75c..3fa99a7 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,7 +7,9 @@
CameraCalibration camera_1 = {
{
- -1.01208 / 180.0 * M_PI, 342.679, 1.79649 / 180.0 * M_PI,
+ -1.01208 / 180.0 * M_PI,
+ 342.679,
+ 1.79649 / 180.0 * M_PI,
},
{
{{-5.08996 * kInchesToMeters, 1.82468 * kInchesToMeters,
@@ -25,7 +27,9 @@
CameraCalibration camera_4 = {
{
- 3.73623 / 180.0 * M_PI, 588.1, 0.269291 / 180.0 * M_PI,
+ 3.73623 / 180.0 * M_PI,
+ 588.1,
+ 0.269291 / 180.0 * M_PI,
},
{
{{6.02674 * kInchesToMeters, 4.57805 * kInchesToMeters,
@@ -43,7 +47,9 @@
CameraCalibration camera_5 = {
{
- 1.00774 / 180.0 * M_PI, 658.554, 2.43864 / 180.0 * M_PI,
+ 1.00774 / 180.0 * M_PI,
+ 658.554,
+ 2.43864 / 180.0 * M_PI,
},
{
{{5.51248 * kInchesToMeters, 2.04087 * kInchesToMeters,
@@ -61,7 +67,9 @@
CameraCalibration camera_6 = {
{
- -1.15844 / 180.0 * M_PI, 348.161, 1.16894 / 180.0 * M_PI,
+ -1.15844 / 180.0 * M_PI,
+ 348.161,
+ 1.16894 / 180.0 * M_PI,
},
{
{{4.73183 * kInchesToMeters, 2.0984 * kInchesToMeters,
@@ -79,7 +87,9 @@
CameraCalibration camera_7 = {
{
- -2.24098 / 180.0 * M_PI, 339.231, 1.15487 / 180.0 * M_PI,
+ -2.24098 / 180.0 * M_PI,
+ 339.231,
+ 1.15487 / 180.0 * M_PI,
},
{
{{3.50224 * kInchesToMeters, 3.95441 * kInchesToMeters,
@@ -97,7 +107,9 @@
CameraCalibration camera_8 = {
{
- 37.1859 / 180.0 * M_PI, 339.517, 0.0405714 / 180.0 * M_PI,
+ 37.1859 / 180.0 * M_PI,
+ 339.517,
+ 0.0405714 / 180.0 * M_PI,
},
{
{{3.57002 * kInchesToMeters, 5.26966 * kInchesToMeters,
@@ -115,7 +127,9 @@
CameraCalibration camera_9 = {
{
- 35.4154 / 180.0 * M_PI, 337.471, 3.30546 / 180.0 * M_PI,
+ 35.4154 / 180.0 * M_PI,
+ 337.471,
+ 3.30546 / 180.0 * M_PI,
},
{
{{4.25679 * kInchesToMeters, -2.93066 * kInchesToMeters,
@@ -133,7 +147,9 @@
CameraCalibration camera_10 = {
{
- -0.305107 / 180.0 * M_PI, 336.952, -0.0804389 / 180.0 * M_PI,
+ -0.305107 / 180.0 * M_PI,
+ 336.952,
+ -0.0804389 / 180.0 * M_PI,
},
{
{{-5.64467 * kInchesToMeters, 2.41348 * kInchesToMeters,
@@ -151,7 +167,9 @@
CameraCalibration camera_14 = {
{
- 0.108434 / 180.0 * M_PI, 338.756, 0.606249 / 180.0 * M_PI,
+ 0.108434 / 180.0 * M_PI,
+ 338.756,
+ 0.606249 / 180.0 * M_PI,
},
{
{{5.90372 * kInchesToMeters, 2.08009 * kInchesToMeters,
@@ -169,7 +187,9 @@
CameraCalibration camera_15 = {
{
- -0.855459 / 180.0 * M_PI, 348.799, 1.4559 / 180.0 * M_PI,
+ -0.855459 / 180.0 * M_PI,
+ 348.799,
+ 1.4559 / 180.0 * M_PI,
},
{
{{3.15291 * kInchesToMeters, 4.16556 * kInchesToMeters,
@@ -187,7 +207,9 @@
CameraCalibration camera_16 = {
{
- -1.30906 / 180.0 * M_PI, 347.372, 2.18486 / 180.0 * M_PI,
+ -1.30906 / 180.0 * M_PI,
+ 347.372,
+ 2.18486 / 180.0 * M_PI,
},
{
{{4.98126 * kInchesToMeters, 1.96988 * kInchesToMeters,
@@ -205,7 +227,9 @@
CameraCalibration camera_17 = {
{
- 34.8231 / 180.0 * M_PI, 338.051, 2.43035 / 180.0 * M_PI,
+ 34.8231 / 180.0 * M_PI,
+ 338.051,
+ 2.43035 / 180.0 * M_PI,
},
{
{{3.17222 * kInchesToMeters, -2.49752 * kInchesToMeters,
@@ -223,7 +247,9 @@
CameraCalibration camera_18 = {
{
- 33.9761 / 180.0 * M_PI, 338.017, -2.32243 / 180.0 * M_PI,
+ 33.9761 / 180.0 * M_PI,
+ 338.017,
+ -2.32243 / 180.0 * M_PI,
},
{
{{3.95182 * kInchesToMeters, 5.50479 * kInchesToMeters,
@@ -241,7 +267,9 @@
CameraCalibration camera_19 = {
{
- -0.341036 / 180.0 * M_PI, 324.626, 1.2545 / 180.0 * M_PI,
+ -0.341036 / 180.0 * M_PI,
+ 324.626,
+ 1.2545 / 180.0 * M_PI,
},
{
{{-6.93309 * kInchesToMeters, 2.64735 * kInchesToMeters,
diff --git a/y2019/vision/constants_formatting.cc b/y2019/vision/constants_formatting.cc
index a2922a0..ebda53f 100644
--- a/y2019/vision/constants_formatting.cc
+++ b/y2019/vision/constants_formatting.cc
@@ -1,8 +1,8 @@
-#include "y2019/vision/constants.h"
-
#include <fstream>
#include <sstream>
+#include "y2019/vision/constants.h"
+
namespace y2019 {
namespace vision {
@@ -31,8 +31,9 @@
}
void IntrinsicParams::Dump(std::basic_ostream<char> *o) const {
- *o << " {\n " << fmt_rad(mount_angle) << ", " << focal_length;
- *o << ", " << fmt_rad(barrel_mount) << ",\n },\n";
+ *o << " {\n " << fmt_rad(mount_angle) << ",\n "
+ << focal_length;
+ *o << ",\n " << fmt_rad(barrel_mount) << ",\n },\n";
}
void CameraGeometry::Dump(std::basic_ostream<char> *o) const {
diff --git a/y2019/vision/constants_formatting_main.cc b/y2019/vision/constants_formatting_main.cc
index fd0bb22..b8f4503 100644
--- a/y2019/vision/constants_formatting_main.cc
+++ b/y2019/vision/constants_formatting_main.cc
@@ -1,6 +1,7 @@
-#include "y2019/vision/constants.h"
#include <iostream>
+#include "y2019/vision/constants.h"
+
int main(int argc, char *argv[]) {
if (argc != 2) {
::std::cout << "Expected a command line argument specifying the file name "
diff --git a/y2019/vision/debug_serial.cc b/y2019/vision/debug_serial.cc
index a658bd7..9b88260 100644
--- a/y2019/vision/debug_serial.cc
+++ b/y2019/vision/debug_serial.cc
@@ -1,4 +1,10 @@
-#include "y2019/jevois/serial.h"
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <chrono>
+#include <fstream>
+#include <iostream>
+#include <thread>
#include "aos/logging/implementations.h"
#include "aos/logging/logging.h"
@@ -7,13 +13,6 @@
#include "y2019/jevois/structures.h"
#include "y2019/jevois/uart.h"
-#include <fcntl.h>
-#include <unistd.h>
-#include <chrono>
-#include <fstream>
-#include <iostream>
-#include <thread>
-
namespace y2019 {
namespace vision {
@@ -86,7 +85,7 @@
}
}
-} // namespace y2019
} // namespace vision
+} // namespace y2019
int main(int argc, char **argv) { y2019::vision::main(argc, argv); }
diff --git a/y2019/vision/debug_viewer.cc b/y2019/vision/debug_viewer.cc
index e98f018..b2ad1be 100644
--- a/y2019/vision/debug_viewer.cc
+++ b/y2019/vision/debug_viewer.cc
@@ -1,23 +1,23 @@
-#include <Eigen/Dense>
#include <iostream>
-#include "y2019/vision/target_finder.h"
+#include "gflags/gflags.h"
+#include <Eigen/Dense>
#include "aos/vision/blob/move_scale.h"
#include "aos/vision/blob/stream_view.h"
#include "aos/vision/blob/transpose.h"
#include "aos/vision/debug/debug_framework.h"
#include "aos/vision/math/vector.h"
-#include "gflags/gflags.h"
+#include "y2019/vision/target_finder.h"
-using aos::vision::ImageRange;
-using aos::vision::ImageFormat;
-using aos::vision::RangeImage;
using aos::vision::AnalysisAllocator;
using aos::vision::BlobList;
-using aos::vision::Vector;
-using aos::vision::Segment;
+using aos::vision::ImageFormat;
+using aos::vision::ImageRange;
using aos::vision::PixelRef;
+using aos::vision::RangeImage;
+using aos::vision::Segment;
+using aos::vision::Vector;
DEFINE_int32(camera, 10, "The camera to use the intrinsics for");
@@ -56,9 +56,10 @@
class FilterHarness : public aos::vision::FilterHarness {
public:
- FilterHarness() {
- *(target_finder_.mutable_intrinsics()) = GetCamera(FLAGS_camera)->intrinsics;
- }
+ FilterHarness() {
+ *(target_finder_.mutable_intrinsics()) =
+ GetCamera(FLAGS_camera)->intrinsics;
+ }
aos::vision::RangeImage Threshold(aos::vision::ImagePtr image) override {
return target_finder_.Threshold(image);
}
@@ -228,12 +229,16 @@
} else if (key == 'h') {
printf("Key Mappings:\n");
printf(" z: Toggle drawing final target pose.\n");
- printf(" x: Toggle drawing re-projected targets and print solver results.\n");
+ printf(
+ " x: Toggle drawing re-projected targets and print solver "
+ "results.\n");
printf(" c: Toggle drawing proposed target groupings.\n");
printf(" v: Toggle drawing ordered target components.\n");
printf(" b: Toggle drawing proposed target components.\n");
printf(" n: Toggle drawing countours before and after warping.\n");
- printf(" m: Toggle drawing raw blob data (may need to change image to toggle a redraw).\n");
+ printf(
+ " m: Toggle drawing raw blob data (may need to change image to "
+ "toggle a redraw).\n");
printf(" h: Print this message.\n");
printf(" a: May log camera image to /tmp/debug_viewer_jpeg_<#>.yuyv\n");
printf(" q: Exit the application.\n");
@@ -354,7 +359,7 @@
};
} // namespace vision
-} // namespace y2017
+} // namespace y2019
int main(int argc, char **argv) {
::gflags::ParseCommandLineFlags(&argc, &argv, true);
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index e1e5ca8..b8f5b3c 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -21,14 +21,14 @@
"Path to the constants file to update");
DEFINE_double(beginning_tape_measure_reading, 11,
- "The tape measure measurement (in inches) of the first image.");
+ "The tape measure measurement (in inches) of the first image.");
DEFINE_int32(image_count, 75, "The number of images to capture");
-DEFINE_double(
- tape_start_x, -12.5,
- "The starting location of the tape measure in x relative to the CG in inches.");
-DEFINE_double(
- tape_start_y, -0.5,
- "The starting location of the tape measure in y relative to the CG in inches.");
+DEFINE_double(tape_start_x, -12.5,
+ "The starting location of the tape measure in x relative to the "
+ "CG in inches.");
+DEFINE_double(tape_start_y, -0.5,
+ "The starting location of the tape measure in y relative to the "
+ "CG in inches.");
DEFINE_double(
tape_direction_x, -1.0,
@@ -37,20 +37,20 @@
tape_direction_y, 0.0,
"The y component of \"1\" inch along the tape measure in meters.");
+using ::aos::monotonic_clock;
using ::aos::events::DataSocket;
using ::aos::events::RXUdpSocket;
using ::aos::events::TCPServer;
using ::aos::vision::DataRef;
using ::aos::vision::Int32Codec;
-using ::aos::monotonic_clock;
using aos::vision::Segment;
-using ceres::NumericDiffCostFunction;
using ceres::CENTRAL;
using ceres::CostFunction;
+using ceres::NumericDiffCostFunction;
using ceres::Problem;
-using ceres::Solver;
using ceres::Solve;
+using ceres::Solver;
namespace y2019 {
namespace vision {
@@ -195,8 +195,8 @@
// Now build up the residual block.
auto ftor = [template_point, target_point](
- const double *const intrinsics, const double *const extrinsics,
- double *residual) {
+ const double *const intrinsics,
+ const double *const extrinsics, double *residual) {
const IntrinsicParams intrinsic_params =
IntrinsicParams::get(intrinsics);
const ExtrinsicParams extrinsic_params =
@@ -293,7 +293,7 @@
DumpCameraConstants(FLAGS_constants.c_str(), info.camera_id, results);
}
-} // namespace y2019
} // namespace vision
+} // namespace y2019
int main(int argc, char **argv) { y2019::vision::main(argc, argv); }
diff --git a/y2019/vision/image_writer.cc b/y2019/vision/image_writer.cc
index 51e2c60..4ca9b96 100644
--- a/y2019/vision/image_writer.cc
+++ b/y2019/vision/image_writer.cc
@@ -1,14 +1,16 @@
-#include <fstream>
+#include "y2019/vision/image_writer.h"
+
#include <sys/stat.h>
+#include <fstream>
+
#include "glog/logging.h"
-#include "y2019/vision/image_writer.h"
namespace y2019 {
namespace vision {
ImageWriter::ImageWriter() {
- LOG(INFO) << "Initializing image writer";
+ LOG(INFO) << "Initializing image writer";
SetDirPath();
}
diff --git a/y2019/vision/image_writer.h b/y2019/vision/image_writer.h
index f33cca7..1192368 100644
--- a/y2019/vision/image_writer.h
+++ b/y2019/vision/image_writer.h
@@ -24,6 +24,6 @@
};
} // namespace vision
-} // namespace y2017
+} // namespace y2019
#endif // Y2019_VISION_IMAGE_WRITER_H_
diff --git a/y2019/vision/serial_waiter.cc b/y2019/vision/serial_waiter.cc
index 551e179..7bffa0d 100644
--- a/y2019/vision/serial_waiter.cc
+++ b/y2019/vision/serial_waiter.cc
@@ -2,8 +2,8 @@
#include <chrono>
-#include "y2019/jevois/serial.h"
#include "aos/time/time.h"
+#include "y2019/jevois/serial.h"
using ::aos::monotonic_clock;
using ::y2019::jevois::open_via_terminos;
diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
index 817da17..8378f77 100644
--- a/y2019/vision/server/server.cc
+++ b/y2019/vision/server/server.cc
@@ -1,12 +1,17 @@
+#include "seasocks/Server.h"
+
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
+
#include <array>
#include <cmath>
#include <memory>
#include <set>
#include <sstream>
+#include "google/protobuf/util/json_util.h"
+
#include "aos/containers/ring_buffer.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
@@ -15,9 +20,7 @@
#include "aos/time/time.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/pose.h"
-#include "google/protobuf/util/json_util.h"
#include "internal/Embedded.h"
-#include "seasocks/Server.h"
#include "seasocks/StringUtil.h"
#include "seasocks/WebSocket.h"
#include "y2019/constants.h"
@@ -157,123 +160,122 @@
DebugData debug_data;
::aos::RingBuffer<DrivetrainPosition, 200> drivetrain_log;
- event_loop.MakeWatcher(
- "/camera", [websocket_handler, server, &latest_frames, &last_target_time,
- &drivetrain_status_fetcher, &superstructure_status_fetcher,
- &last_send_time, &drivetrain_log, &debug_data](
- const ::y2019::control_loops::drivetrain::CameraFrame
- &camera_frames) {
- while (drivetrain_status_fetcher.FetchNext()) {
- DrivetrainPosition drivetrain_position{
- drivetrain_status_fetcher.context().monotonic_event_time,
- drivetrain_status_fetcher->x(), drivetrain_status_fetcher->y(),
- drivetrain_status_fetcher->theta()};
+ event_loop.MakeWatcher("/camera", [websocket_handler, server, &latest_frames,
+ &last_target_time,
+ &drivetrain_status_fetcher,
+ &superstructure_status_fetcher,
+ &last_send_time, &drivetrain_log,
+ &debug_data](const ::y2019::control_loops::
+ drivetrain::CameraFrame
+ &camera_frames) {
+ while (drivetrain_status_fetcher.FetchNext()) {
+ DrivetrainPosition drivetrain_position{
+ drivetrain_status_fetcher.context().monotonic_event_time,
+ drivetrain_status_fetcher->x(), drivetrain_status_fetcher->y(),
+ drivetrain_status_fetcher->theta()};
- drivetrain_log.Push(drivetrain_position);
+ drivetrain_log.Push(drivetrain_position);
+ }
+ superstructure_status_fetcher.Fetch();
+ if (!drivetrain_status_fetcher.get() ||
+ !superstructure_status_fetcher.get()) {
+ // Try again if we don't have any drivetrain statuses.
+ return;
+ }
+ const auto now = aos::monotonic_clock::now();
+
+ {
+ const auto &new_frame = camera_frames;
+ // TODO(james): Maybe we only want to fill out a new frame if it has
+ // targets or the saved target is > 0.1 sec old? Not sure, but for now
+ if (new_frame.camera() < latest_frames.size()) {
+ latest_frames[new_frame.camera()].capture_time =
+ aos::monotonic_clock::time_point(
+ chrono::nanoseconds(new_frame.timestamp()));
+ latest_frames[new_frame.camera()].targets.clear();
+ if (new_frame.has_targets() && new_frame.targets()->size() > 0) {
+ last_target_time[new_frame.camera()] =
+ latest_frames[new_frame.camera()].capture_time;
}
- superstructure_status_fetcher.Fetch();
- if (!drivetrain_status_fetcher.get() ||
- !superstructure_status_fetcher.get()) {
- // Try again if we don't have any drivetrain statuses.
- return;
+ for (const control_loops::drivetrain::CameraTarget *target :
+ *new_frame.targets()) {
+ latest_frames[new_frame.camera()].targets.emplace_back();
+ const float heading = target->heading();
+ const float distance = target->distance();
+ latest_frames[new_frame.camera()].targets.back().x =
+ ::std::cos(heading) * distance;
+ latest_frames[new_frame.camera()].targets.back().y =
+ ::std::sin(heading) * distance;
+ latest_frames[new_frame.camera()].targets.back().theta =
+ target->skew();
}
- const auto now = aos::monotonic_clock::now();
+ }
+ }
- {
- const auto &new_frame = camera_frames;
- // TODO(james): Maybe we only want to fill out a new frame if it has
- // targets or the saved target is > 0.1 sec old? Not sure, but for now
- if (new_frame.camera() < latest_frames.size()) {
- latest_frames[new_frame.camera()].capture_time =
- aos::monotonic_clock::time_point(
- chrono::nanoseconds(new_frame.timestamp()));
- latest_frames[new_frame.camera()].targets.clear();
- if (new_frame.has_targets() && new_frame.targets()->size() > 0) {
- last_target_time[new_frame.camera()] =
- latest_frames[new_frame.camera()].capture_time;
- }
- for (const control_loops::drivetrain::CameraTarget *target :
- *new_frame.targets()) {
- latest_frames[new_frame.camera()].targets.emplace_back();
- const float heading = target->heading();
- const float distance = target->distance();
- latest_frames[new_frame.camera()].targets.back().x =
- ::std::cos(heading) * distance;
- latest_frames[new_frame.camera()].targets.back().y =
- ::std::sin(heading) * distance;
- latest_frames[new_frame.camera()].targets.back().theta =
- target->skew();
- }
- }
- }
+ for (size_t ii = 0; ii < latest_frames.size(); ++ii) {
+ CameraDebug *camera_debug = debug_data.add_camera_debug();
+ LocalCameraFrame cur_frame = latest_frames[ii];
+ constants::Values::CameraCalibration camera_info =
+ constants::GetValues().cameras[ii];
+ frc971::control_loops::TypedPose<double> camera_pose = camera_info.pose;
- for (size_t ii = 0; ii < latest_frames.size(); ++ii) {
- CameraDebug *camera_debug = debug_data.add_camera_debug();
- LocalCameraFrame cur_frame = latest_frames[ii];
- constants::Values::CameraCalibration camera_info =
- constants::GetValues().cameras[ii];
- frc971::control_loops::TypedPose<double> camera_pose =
- camera_info.pose;
+ const DrivetrainPosition robot_position =
+ ComputePosition(drivetrain_log, cur_frame.capture_time);
+ const ::frc971::control_loops::TypedPose<double> robot_pose(
+ {robot_position.x, robot_position.y, 0}, robot_position.theta);
- const DrivetrainPosition robot_position =
- ComputePosition(drivetrain_log, cur_frame.capture_time);
- const ::frc971::control_loops::TypedPose<double> robot_pose(
- {robot_position.x, robot_position.y, 0}, robot_position.theta);
+ camera_pose.set_base(&robot_pose);
- camera_pose.set_base(&robot_pose);
+ camera_debug->set_current_frame_age(
+ ::aos::time::DurationInSeconds(now - cur_frame.capture_time));
+ camera_debug->set_time_since_last_target(
+ ::aos::time::DurationInSeconds(now - last_target_time[ii]));
+ for (const auto &target : cur_frame.targets) {
+ frc971::control_loops::TypedPose<double> target_pose(
+ &camera_pose, {target.x, target.y, 0}, target.theta);
+ Pose *pose = camera_debug->add_targets();
+ pose->set_x(target_pose.abs_pos().x());
+ pose->set_y(target_pose.abs_pos().y());
+ pose->set_theta(target_pose.abs_theta());
+ }
+ }
- camera_debug->set_current_frame_age(
- ::aos::time::DurationInSeconds(now - cur_frame.capture_time));
- camera_debug->set_time_since_last_target(
- ::aos::time::DurationInSeconds(now - last_target_time[ii]));
- for (const auto &target : cur_frame.targets) {
- frc971::control_loops::TypedPose<double> target_pose(
- &camera_pose, {target.x, target.y, 0}, target.theta);
- Pose *pose = camera_debug->add_targets();
- pose->set_x(target_pose.abs_pos().x());
- pose->set_y(target_pose.abs_pos().y());
- pose->set_theta(target_pose.abs_theta());
- }
- }
+ if (now > last_send_time + chrono::milliseconds(100)) {
+ last_send_time = now;
+ debug_data.mutable_robot_pose()->set_x(drivetrain_status_fetcher->x());
+ debug_data.mutable_robot_pose()->set_y(drivetrain_status_fetcher->y());
+ debug_data.mutable_robot_pose()->set_theta(
+ drivetrain_status_fetcher->theta());
+ {
+ LineFollowDebug *line_debug = debug_data.mutable_line_follow_debug();
+ line_debug->set_frozen(
+ drivetrain_status_fetcher->line_follow_logging()->frozen());
+ line_debug->set_have_target(
+ drivetrain_status_fetcher->line_follow_logging()->have_target());
+ line_debug->mutable_goal_target()->set_x(
+ drivetrain_status_fetcher->line_follow_logging()->x());
+ line_debug->mutable_goal_target()->set_y(
+ drivetrain_status_fetcher->line_follow_logging()->y());
+ line_debug->mutable_goal_target()->set_theta(
+ drivetrain_status_fetcher->line_follow_logging()->theta());
+ }
- if (now > last_send_time + chrono::milliseconds(100)) {
- last_send_time = now;
- debug_data.mutable_robot_pose()->set_x(drivetrain_status_fetcher->x());
- debug_data.mutable_robot_pose()->set_y(drivetrain_status_fetcher->y());
- debug_data.mutable_robot_pose()->set_theta(
- drivetrain_status_fetcher->theta());
- {
- LineFollowDebug *line_debug =
- debug_data.mutable_line_follow_debug();
- line_debug->set_frozen(
- drivetrain_status_fetcher->line_follow_logging()->frozen());
- line_debug->set_have_target(
- drivetrain_status_fetcher->line_follow_logging()->have_target());
- line_debug->mutable_goal_target()->set_x(
- drivetrain_status_fetcher->line_follow_logging()->x());
- line_debug->mutable_goal_target()->set_y(
- drivetrain_status_fetcher->line_follow_logging()->y());
- line_debug->mutable_goal_target()->set_theta(
- drivetrain_status_fetcher->line_follow_logging()->theta());
- }
+ Sensors *sensors = debug_data.mutable_sensors();
+ sensors->set_wrist(superstructure_status_fetcher->wrist()->position());
+ sensors->set_elevator(
+ superstructure_status_fetcher->elevator()->position());
+ sensors->set_intake(superstructure_status_fetcher->intake()->position());
+ sensors->set_stilts(superstructure_status_fetcher->stilts()->position());
+ sensors->set_has_piece(superstructure_status_fetcher->has_piece());
- Sensors *sensors = debug_data.mutable_sensors();
- sensors->set_wrist(
- superstructure_status_fetcher->wrist()->position());
- sensors->set_elevator(
- superstructure_status_fetcher->elevator()->position());
- sensors->set_intake(superstructure_status_fetcher->intake()->position());
- sensors->set_stilts(superstructure_status_fetcher->stilts()->position());
- sensors->set_has_piece(superstructure_status_fetcher->has_piece());
+ ::std::string json;
+ google::protobuf::util::MessageToJsonString(debug_data, &json);
+ server->execute(
+ std::make_shared<UpdateData>(websocket_handler, ::std::move(json)));
- ::std::string json;
- google::protobuf::util::MessageToJsonString(debug_data, &json);
- server->execute(std::make_shared<UpdateData>(websocket_handler,
- ::std::move(json)));
-
- debug_data.Clear();
- }
- });
+ debug_data.Clear();
+ }
+ });
event_loop.Run();
}
@@ -305,9 +307,8 @@
}
}
- server.serve(
- serve_www ? "/home/admin/bin/www" : "y2019/vision/server/www",
- 1180);
+ server.serve(serve_www ? "/home/admin/bin/www" : "y2019/vision/server/www",
+ 1180);
return 0;
}
diff --git a/y2019/vision/server/www/generate_camera.cc b/y2019/vision/server/www/generate_camera.cc
index 757ce69..455b0a9 100644
--- a/y2019/vision/server/www/generate_camera.cc
+++ b/y2019/vision/server/www/generate_camera.cc
@@ -1,14 +1,14 @@
-#include "y2019/constants.h"
-#include "y2019/vision/constants.h"
-
#include <fstream>
#include <iostream>
+#include "y2019/constants.h"
+#include "y2019/vision/constants.h"
+
namespace y2019 {
namespace vision {
void DumpPose(std::basic_ostream<char> *o, const vision::CameraGeometry &pose) {
*o << "{x: " << pose.location[0] << ", y: " << pose.location[1]
- << ", theta: " << pose.heading << "}";
+ << ", theta: " << pose.heading << "}";
}
void DumpTypescriptConstants(const char *fname) {
::std::ofstream out_file(fname);
@@ -23,7 +23,7 @@
}
out_file << "];\n";
}
-} // namespace constants
+} // namespace vision
} // namespace y2019
int main(int argc, char *argv[]) {
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index b16fba1..b59792c 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -1,8 +1,9 @@
#include "y2019/vision/target_finder.h"
-#include "aos/vision/blob/hierarchical_contour_merge.h"
#include "ceres/ceres.h"
+#include "aos/vision/blob/hierarchical_contour_merge.h"
+
using namespace aos::vision;
namespace y2019 {
@@ -75,7 +76,7 @@
constexpr int iterations = 7;
-}
+} // namespace
::Eigen::Vector2f UnWarpPoint(const Point point) {
const double x0 = ((double)point.x - c_x) / f_x;
@@ -566,8 +567,9 @@
// Sort the target list so that the widest (ie closest) target is first.
sort(filtered.begin(), filtered.end(),
- [](const IntermediateResult &a, const IntermediateResult &b)
- -> bool { return a.target_width > b.target_width; });
+ [](const IntermediateResult &a, const IntermediateResult &b) -> bool {
+ return a.target_width > b.target_width;
+ });
frame_count_++;
if (!filtered.empty()) {
@@ -588,8 +590,8 @@
int pixel_count, int *desired_exposure) {
// TODO(ben): Add these values to config file.
constexpr double low_dist = 0.8;
- constexpr int low_exposure = 60;
- constexpr int mid_exposure = 200;
+ constexpr int low_exposure = 60;
+ constexpr int mid_exposure = 200;
bool needs_update = false;
if (results.size() > 0) {
diff --git a/y2019/vision/target_finder.h b/y2019/vision/target_finder.h
index d54dc2d..fdcfbde 100644
--- a/y2019/vision/target_finder.h
+++ b/y2019/vision/target_finder.h
@@ -19,11 +19,11 @@
namespace y2019 {
namespace vision {
+using aos::vision::BlobList;
+using aos::vision::ContourNode;
using aos::vision::ImageRange;
using aos::vision::RangeImage;
-using aos::vision::BlobList;
using aos::vision::Vector;
-using aos::vision::ContourNode;
struct Polygon {
::std::vector<aos::vision::Segment<2>> segments;
diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index 86ead34..e562f49 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -1,7 +1,8 @@
#include <cmath>
-#include "aos/util/math.h"
#include "ceres/ceres.h"
+
+#include "aos/util/math.h"
#include "y2019/vision/target_finder.h"
using ceres::CENTRAL;
diff --git a/y2019/vision/target_types.h b/y2019/vision/target_types.h
index 990debc..5019646 100644
--- a/y2019/vision/target_types.h
+++ b/y2019/vision/target_types.h
@@ -94,13 +94,13 @@
// Projects a point from idealized template space to camera space.
template <typename Extrinsics>
aos::vision::Vector<2> Project(aos::vision::Vector<2> pt,
- const IntrinsicParams &intrinsics,
- const Extrinsics &extrinsics);
+ const IntrinsicParams &intrinsics,
+ const Extrinsics &extrinsics);
template <typename T, typename Extrinsics>
::Eigen::Matrix<T, 2, 1> Project(::Eigen::Matrix<T, 2, 1> pt,
- const IntrinsicParams &intrinsics,
- const Extrinsics &extrinsics);
+ const IntrinsicParams &intrinsics,
+ const Extrinsics &extrinsics);
Target Project(const Target &target, const IntrinsicParams &intrinsics,
const ExtrinsicParams &extrinsics);
@@ -146,7 +146,7 @@
float skew;
};
-template<typename T>
+template <typename T>
::Eigen::Matrix<T, 2, 1> ToEigenMatrix(aos::vision::Vector<2> pt) {
return (::Eigen::Matrix<T, 2, 1>() << T(pt.x()), T(pt.y())).finished();
}
@@ -163,8 +163,8 @@
template <typename T, typename Extrinsics>
::Eigen::Matrix<T, 2, 1> Project(::Eigen::Matrix<T, 2, 1> pt,
- const IntrinsicParams &intrinsics,
- const Extrinsics &extrinsics) {
+ const IntrinsicParams &intrinsics,
+ const Extrinsics &extrinsics) {
const T y = extrinsics.y; // height
const T z = extrinsics.z; // distance
const T r1 = extrinsics.r1; // skew
@@ -184,7 +184,8 @@
const T s = sin(theta);
const T c = cos(theta);
pts = (::Eigen::Matrix<T, 3, 3>() << c, T(0), -s, T(0), T(1), T(0), s, T(0),
- c).finished() *
+ c)
+ .finished() *
pts;
}
@@ -199,7 +200,8 @@
const T s = sin(theta);
const T c = cos(theta);
pts = (::Eigen::Matrix<T, 3, 3>() << c, T(0), -s, T(0), T(1), T(0), s, T(0),
- c).finished() *
+ c)
+ .finished() *
pts;
}
@@ -212,7 +214,8 @@
const T c = T(cos(theta));
pts = (::Eigen::Matrix<T, 3, 3>() << T(1), T(0), T(0), T(0), c, -s, T(0), s,
- c).finished() *
+ c)
+ .finished() *
pts;
}
@@ -233,7 +236,7 @@
// pixel-space.
const T scale = fl / res.z();
return ::Eigen::Matrix<T, 2, 1>(res.x() * scale + 320.0,
- 240.0 - res.y() * scale);
+ 240.0 - res.y() * scale);
}
} // namespace vision
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index ace17fb..e918aaf 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -12,6 +12,7 @@
#include <thread>
#include "ctre/phoenix/CANifier.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
@@ -20,6 +21,8 @@
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR
+#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+
#include "aos/commonmath.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
@@ -30,7 +33,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
diff --git a/y2020/actors/shooter_tuning_actor.cc b/y2020/actors/shooter_tuning_actor.cc
index 06e78b9..a6efce7 100644
--- a/y2020/actors/shooter_tuning_actor.cc
+++ b/y2020/actors/shooter_tuning_actor.cc
@@ -6,10 +6,11 @@
#include <sstream>
#include <utility>
+#include "glog/logging.h"
+
#include "aos/init.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/control_loops_generated.h"
-#include "glog/logging.h"
#include "y2020/constants.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
#include "y2020/control_loops/superstructure/shooter/shooter_tuning_params_generated.h"
diff --git a/y2020/constants.cc b/y2020/constants.cc
index b468492..4d9d066 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -8,9 +8,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2020/control_loops/superstructure/control_panel/integral_control_panel_plant.h"
#include "y2020/control_loops/superstructure/hood/integral_hood_plant.h"
#include "y2020/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2020/constants.h b/y2020/constants.h
index ab9bdb0..83b2cec 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -69,7 +69,7 @@
static constexpr ::frc971::constants::Range kHoodRange() {
return ::frc971::constants::Range{
-0.01, // Back Hard
- 0.685, // Front Hard
+ 0.685, // Front Hard
0.00, // Back Soft
0.68 // Front Soft
};
diff --git a/y2020/control_loops/drivetrain/drivetrain_base.cc b/y2020/control_loops/drivetrain/drivetrain_base.cc
index 952c3dc..7b42df5 100644
--- a/y2020/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_base.cc
@@ -60,7 +60,8 @@
.finished() /*imu_transform*/,
};
- if (::aos::network::GetTeamNumber() != constants::Values::kCodingRobotTeamNumber) {
+ if (::aos::network::GetTeamNumber() !=
+ constants::Values::kCodingRobotTeamNumber) {
// TODO(james): Check X/Y axis
// transformations.
kDrivetrainConfig.imu_transform = (Eigen::Matrix<double, 3, 3>() << 1.0,
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 8373258..0035fb3 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -4,6 +4,8 @@
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original drivetrain status data will be on the
// /original/drivetrain channel.
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -14,7 +16,6 @@
#include "aos/util/simulation_logger.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/trajectory_generator.h"
-#include "gflags/gflags.h"
#include "y2020/constants.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
#include "y2020/control_loops/drivetrain/localizer.h"
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
index 08622cb..0baf34b 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -8,6 +8,7 @@
// longer be valid.
// TODO(james): Do something about that when the time comes--could just copy
// the existing drivetrain config into this file and use it directly.
+#include "gflags/gflags.h"
#include "gtest/gtest.h"
#include "aos/configuration.h"
@@ -19,13 +20,10 @@
#include "aos/network/team_number.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/trajectory_schema.h"
-#include "gflags/gflags.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_string(
- logfile,
- "external/drivetrain_replay/",
- "Name of the logfile to read from.");
+DEFINE_string(logfile, "external/drivetrain_replay/",
+ "Name of the logfile to read from.");
DEFINE_string(config, "y2020/aos_config.json",
"Name of the config file to replay using.");
@@ -43,9 +41,9 @@
// TODO(james): Actually enforce not sending on the same buses as the
// logfile spews out.
reader_.RemapLoggedChannel("/drivetrain",
- "frc971.control_loops.drivetrain.Status");
+ "frc971.control_loops.drivetrain.Status");
reader_.RemapLoggedChannel("/drivetrain",
- "frc971.control_loops.drivetrain.Output");
+ "frc971.control_loops.drivetrain.Output");
// Patch in any new channels.
updated_config_ = aos::configuration::MergeWithConfig(
@@ -98,9 +96,7 @@
"/drivetrain");
}
- ~DrivetrainReplayTest() {
- reader_.Deregister();
- }
+ ~DrivetrainReplayTest() { reader_.Deregister(); }
aos::logger::LogReader reader_;
const aos::Node *roborio_;
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 9e9e7dd..bb85921 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -2,6 +2,8 @@
#include <queue>
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "aos/network/message_bridge_server_generated.h"
#include "aos/network/team_number.h"
@@ -9,7 +11,6 @@
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
diff --git a/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc b/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
index eb9351b..dee4461 100644
--- a/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
+++ b/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
@@ -1,7 +1,7 @@
-#include <cmath>
-
#include "y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.h"
+#include <cmath>
+
namespace y2020::control_loops::superstructure::hood {
HoodEncoderZeroingEstimator::HoodEncoderZeroingEstimator(
diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.h b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
index ce0e8bb..1d56407 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.h
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
@@ -3,8 +3,8 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2020/control_loops/superstructure/accelerator/integral_accelerator_plant.h"
#include "y2020/control_loops/superstructure/finisher/integral_finisher_plant.h"
diff --git a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
index e919aae..5e3010d 100644
--- a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
@@ -1,7 +1,8 @@
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "y2020/control_loops/superstructure/shooter/shooter_tuning_params_generated.h"
DEFINE_double(velocity_initial_finisher, 300.0, "Initial finisher velocity");
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index b13263a..b146149 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,6 +3,9 @@
#include <chrono>
#include <memory>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/network/team_number.h"
@@ -10,8 +13,6 @@
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/accelerator/accelerator_plant.h"
#include "y2020/control_loops/superstructure/finisher/finisher_plant.h"
diff --git a/y2020/control_loops/superstructure/superstructure_main.cc b/y2020/control_loops/superstructure/superstructure_main.cc
index 88dddf1..7e09db9 100644
--- a/y2020/control_loops/superstructure/superstructure_main.cc
+++ b/y2020/control_loops/superstructure/superstructure_main.cc
@@ -1,8 +1,7 @@
-#include "y2020/constants.h"
-#include "y2020/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2020/constants.h"
+#include "y2020/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2020/control_loops/superstructure/superstructure_replay.cc b/y2020/control_loops/superstructure/superstructure_replay.cc
index 0148523..36a6778 100644
--- a/y2020/control_loops/superstructure/superstructure_replay.cc
+++ b/y2020/control_loops/superstructure/superstructure_replay.cc
@@ -4,13 +4,14 @@
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original drivetrain status data will be on the
// /original/drivetrain channel.
+#include "gflags/gflags.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/logging/log_message_generated.h"
#include "aos/network/team_number.h"
-#include "gflags/gflags.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/superstructure.h"
diff --git a/y2020/control_loops/superstructure/turret/aiming.h b/y2020/control_loops/superstructure/turret/aiming.h
index f38113d..45f690f 100644
--- a/y2020/control_loops/superstructure/turret/aiming.h
+++ b/y2020/control_loops/superstructure/turret/aiming.h
@@ -2,11 +2,11 @@
#define y2020_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
#include "aos/flatbuffers.h"
+#include "frc971/control_loops/aiming/aiming.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/input/joystick_state_generated.h"
-#include "frc971/control_loops/aiming/aiming.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
namespace y2020 {
@@ -62,7 +62,7 @@
// position and shooter speed.
double shot_distance_ = 0.0; // meters
// Real-world distance to the target.
- double target_distance_ = 0.0; // meters
+ double target_distance_ = 0.0; // meters
double inner_port_angle_ = 0.0; // radians
Eigen::Matrix<double, 2, 2> Tlr_to_la_;
diff --git a/y2020/control_loops/superstructure/turret/aiming_test.cc b/y2020/control_loops/superstructure/turret/aiming_test.cc
index fe71e31..b63d705 100644
--- a/y2020/control_loops/superstructure/turret/aiming_test.cc
+++ b/y2020/control_loops/superstructure/turret/aiming_test.cc
@@ -1,8 +1,9 @@
#include "y2020/control_loops/superstructure/turret/aiming.h"
+#include "gtest/gtest.h"
+
#include "aos/network/team_number.h"
#include "frc971/control_loops/pose.h"
-#include "gtest/gtest.h"
#include "y2020/constants.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
diff --git a/y2020/setpoint_setter.cc b/y2020/setpoint_setter.cc
index 0ca67e7..2bfb917 100644
--- a/y2020/setpoint_setter.cc
+++ b/y2020/setpoint_setter.cc
@@ -1,7 +1,8 @@
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "y2020/setpoint_generated.h"
DEFINE_double(accelerator, 250.0, "Accelerator speed");
diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index d9e13b3..334de0b 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -3,6 +3,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "absl/strings/str_format.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/init.h"
#include "aos/network/team_number.h"
diff --git a/y2020/vision/sift/fast_gaussian.h b/y2020/vision/sift/fast_gaussian.h
index 580083f..f243e53 100644
--- a/y2020/vision/sift/fast_gaussian.h
+++ b/y2020/vision/sift/fast_gaussian.h
@@ -3,9 +3,10 @@
#include <type_traits>
-#include <opencv2/core/mat.hpp>
-#include "HalideBuffer.h"
#include "glog/logging.h"
+#include <opencv2/core/mat.hpp>
+
+#include "HalideBuffer.h"
namespace frc971 {
namespace vision {
@@ -39,6 +40,6 @@
cv::Mat *difference, double sigma);
} // namespace vision
-} // namespace vision
+} // namespace frc971
#endif // Y2020_VISION_SIFT_FAST_GAUSSIAN_H_
diff --git a/y2020/vision/sift/fast_gaussian_test.cc b/y2020/vision/sift/fast_gaussian_test.cc
index 73fd8a7..0ed9e20 100644
--- a/y2020/vision/sift/fast_gaussian_test.cc
+++ b/y2020/vision/sift/fast_gaussian_test.cc
@@ -1,8 +1,8 @@
#include "y2020/vision/sift/fast_gaussian.h"
+#include "gtest/gtest.h"
#include <opencv2/imgproc.hpp>
-#include "gtest/gtest.h"
#include "y2020/vision/sift/fast_gaussian_all.h"
namespace frc971 {
diff --git a/y2020/vision/sift/get_gaussian_kernel_test.cc b/y2020/vision/sift/get_gaussian_kernel_test.cc
index 9d799ad..e35f06e 100644
--- a/y2020/vision/sift/get_gaussian_kernel_test.cc
+++ b/y2020/vision/sift/get_gaussian_kernel_test.cc
@@ -1,12 +1,12 @@
#include "y2020/vision/sift/get_gaussian_kernel.h"
-#include <opencv2/core/mat.hpp>
-#include <opencv2/imgproc.hpp>
#include <tuple>
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgproc.hpp>
namespace frc971 {
namespace vision {
diff --git a/y2020/vision/sift/sift971.cc b/y2020/vision/sift/sift971.cc
index 788ae23..afab9b4 100644
--- a/y2020/vision/sift/sift971.cc
+++ b/y2020/vision/sift/sift971.cc
@@ -109,10 +109,11 @@
#include <cstdarg>
#include <iostream>
#include <mutex>
+
+#include "glog/logging.h"
#include <opencv2/core/hal/hal.hpp>
#include <opencv2/imgproc.hpp>
-#include "glog/logging.h"
#include "y2020/vision/sift/fast_gaussian.h"
using namespace cv;
diff --git a/y2020/vision/sift/testing_sift.cc b/y2020/vision/sift/testing_sift.cc
index d4b1306..c0d4ca2 100644
--- a/y2020/vision/sift/testing_sift.cc
+++ b/y2020/vision/sift/testing_sift.cc
@@ -1,5 +1,6 @@
#include <memory>
+#include "glog/logging.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
@@ -7,7 +8,6 @@
#include "aos/init.h"
#include "aos/time/time.h"
#include "y2020/vision/sift/fast_gaussian.h"
-#include "glog/logging.h"
#include "y2020/vision/sift/sift971.h"
DEFINE_string(image, "", "Image to test with");
@@ -15,7 +15,7 @@
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- cv::setNumThreads (4);
+ cv::setNumThreads(4);
const cv::Mat raw_image = cv::imread(FLAGS_image);
CHECK(!raw_image.empty()) << ": Failed to read: " << FLAGS_image;
@@ -58,7 +58,8 @@
#endif
LOG(INFO);
- std::unique_ptr<frc971::vision::SIFT971_Impl> sift(new frc971::vision::SIFT971_Impl());
+ std::unique_ptr<frc971::vision::SIFT971_Impl> sift(
+ new frc971::vision::SIFT971_Impl());
std::vector<cv::KeyPoint> keypoints;
cv::Mat descriptors;
LOG(INFO) << "detectAndCompute on " << image.rows << "x" << image.cols;
diff --git a/y2020/vision/tools/python_code/camera_param_test.cc b/y2020/vision/tools/python_code/camera_param_test.cc
index a2d3a75..30616b0 100644
--- a/y2020/vision/tools/python_code/camera_param_test.cc
+++ b/y2020/vision/tools/python_code/camera_param_test.cc
@@ -1,9 +1,9 @@
#include <unistd.h>
-#include <opencv2/features2d.hpp>
-#include <opencv2/imgproc.hpp>
#include "glog/logging.h"
#include "gtest/gtest.h"
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgproc.hpp>
#if 1
#include "y2020/vision/tools/python_code/sift_training_data_test.h"
diff --git a/y2020/vision/viewer.cc b/y2020/vision/viewer.cc
index d923407..ff08f01 100644
--- a/y2020/vision/viewer.cc
+++ b/y2020/vision/viewer.cc
@@ -1,9 +1,10 @@
#include <map>
+#include <random>
+
#include <opencv2/calib3d.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include <random>
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 5569550..e3cb5b3 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -20,6 +20,10 @@
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR
+#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
+#include "ctre/phoenix/motorcontrol/can/VictorSPX.h"
+#include "gflags/gflags.h"
+
#include "aos/commonmath.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
@@ -31,8 +35,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
-#include "ctre/phoenix/motorcontrol/can/VictorSPX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
@@ -49,7 +51,6 @@
#include "frc971/wpilib/pdp_fetcher.h"
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
-#include "gflags/gflags.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/shooter/shooter_tuning_readings_generated.h"
#include "y2020/control_loops/superstructure/superstructure_output_generated.h"
diff --git a/y2021_bot3/constants.cc b/y2021_bot3/constants.cc
index 82e3808..facd1a0 100644
--- a/y2021_bot3/constants.cc
+++ b/y2021_bot3/constants.cc
@@ -8,9 +8,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
-#include "glog/logging.h"
namespace y2021_bot3 {
namespace constants {
diff --git a/y2021_bot3/control_loops/superstructure/superstructure.h b/y2021_bot3/control_loops/superstructure/superstructure.h
index da4da62..23dd801 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure.h
+++ b/y2021_bot3/control_loops/superstructure/superstructure.h
@@ -1,8 +1,8 @@
#ifndef Y2021_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
#define Y2021_BOT3_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
#include "y2021_bot3/constants.h"
#include "y2021_bot3/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2021_bot3/control_loops/superstructure/superstructure_output_generated.h"
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
index 548dc25..a47cd57 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,13 +1,14 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
+#include "aos/events/logging/log_writer.h"
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2021_bot3/control_loops/superstructure/superstructure.h"
-#include "aos/events/logging/log_writer.h"
DEFINE_string(output_folder, "",
"If set, logs all channels to the provided logfile.");
@@ -185,19 +186,19 @@
TEST_F(SuperstructureTest, PlotterTest) {
double speed = 10.0;
test_event_loop_->AddPhasedLoop(
- [&](int) {
- auto builder = superstructure_goal_sender_.MakeBuilder();
- Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_intake_speed(speed);
- goal_builder.add_outtake_speed(speed);
- goal_builder.add_climber_speed(speed);
- builder.CheckOk(builder.Send(goal_builder.Finish()));
- speed += .001;
- if (speed >= 12) {
- speed = -12;
- }
- },
- frc971::controls::kLoopFrequency);
+ [&](int) {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_intake_speed(speed);
+ goal_builder.add_outtake_speed(speed);
+ goal_builder.add_climber_speed(speed);
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
+ speed += .001;
+ if (speed >= 12) {
+ speed = -12;
+ }
+ },
+ frc971::controls::kLoopFrequency);
RunFor(std::chrono::seconds(10));
}
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_main.cc b/y2021_bot3/control_loops/superstructure/superstructure_main.cc
index be37e92..3886cac 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_main.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2021_bot3/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2021_bot3/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2021_bot3/wpilib_interface.cc b/y2021_bot3/wpilib_interface.cc
index 1a7837c..02c2ecf 100644
--- a/y2021_bot3/wpilib_interface.cc
+++ b/y2021_bot3/wpilib_interface.cc
@@ -12,6 +12,7 @@
#include <thread>
#include "ctre/phoenix/CANifier.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
@@ -21,6 +22,9 @@
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR
+#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
+#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+
#include "aos/commonmath.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
@@ -31,8 +35,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
-#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 21ba9e4..ff1c738 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -8,10 +8,11 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
#include "frc971/wpilib/wpilib_utils.h"
-#include "glog/logging.h"
#include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
@@ -219,7 +220,7 @@
0.0172237531191 - 0.0172237531191 +
0.00443383743660001 - 0.0117667224279;
- intake_front->potentiometer_offset = + 3.572389;
+ intake_front->potentiometer_offset = +3.572389;
intake_front->subsystem_params.zeroing_constants
.measured_absolute_position = 0.238611243887673;
diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index f18ebf2..c58353e 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -9,8 +9,8 @@
#include "y2022/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
#include "y2022/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
using ::frc971::control_loops::drivetrain::DownEstimatorConfig;
+using ::frc971::control_loops::drivetrain::DrivetrainConfig;
namespace chrono = ::std::chrono;
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index cdffecd..b0ec6fd 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -2,9 +2,10 @@
#include "Eigen/Dense"
#include "Eigen/Sparse"
+#include "glog/logging.h"
+
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "glog/logging.h"
#include "osqp++.h"
#include "osqp.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index 12c0116..a4c82de 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -2,8 +2,9 @@
#define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_CATAPULT_CATAPULT_H_
#include "Eigen/Dense"
-#include "frc971/control_loops/state_feedback_loop.h"
#include "glog/logging.h"
+
+#include "frc971/control_loops/state_feedback_loop.h"
#include "osqp++.h"
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2022/control_loops/superstructure/catapult/catapult_test.cc b/y2022/control_loops/superstructure/catapult/catapult_test.cc
index b37c3e0..7361bcd 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_test.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_test.cc
@@ -2,6 +2,7 @@
#include "glog/logging.h"
#include "gtest/gtest.h"
+
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
namespace y2022 {
diff --git a/y2022/control_loops/superstructure/collision_avoidance_test.cc b/y2022/control_loops/superstructure/collision_avoidance_test.cc
index 7c53be3..09d1a50 100644
--- a/y2022/control_loops/superstructure/collision_avoidance_test.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance_test.cc
@@ -1,9 +1,10 @@
#include "y2022/control_loops/superstructure/collision_avoidance.h"
-#include "aos/commonmath.h"
-#include "aos/flatbuffers.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+
+#include "aos/commonmath.h"
+#include "aos/flatbuffers.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
diff --git a/y2022/control_loops/superstructure/led_indicator.cc b/y2022/control_loops/superstructure/led_indicator.cc
index b636250..11a46e9 100644
--- a/y2022/control_loops/superstructure/led_indicator.cc
+++ b/y2022/control_loops/superstructure/led_indicator.cc
@@ -30,7 +30,7 @@
candle_.ConfigAllSettings(config, 0);
event_loop_->AddPhasedLoop([&](int) { DecideColor(); },
- std::chrono::milliseconds(20));
+ std::chrono::milliseconds(20));
}
// This method will be called once per scheduler run
diff --git a/y2022/control_loops/superstructure/led_indicator.h b/y2022/control_loops/superstructure/led_indicator.h
index 71bc73b..932481f 100644
--- a/y2022/control_loops/superstructure/led_indicator.h
+++ b/y2022/control_loops/superstructure/led_indicator.h
@@ -1,10 +1,11 @@
#ifndef Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_
#define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_
+#include "ctre/phoenix/led/CANdle.h"
+
#include "aos/events/event_loop.h"
#include "aos/network/message_bridge_client_generated.h"
#include "aos/network/message_bridge_server_generated.h"
-#include "ctre/phoenix/led/CANdle.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 7e2acab..c85d5d0 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,19 +1,20 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
+#include "frc971/control_loops/subsystem_simulator.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/climber_plant.h"
#include "y2022/control_loops/superstructure/intake/intake_plant.h"
#include "y2022/control_loops/superstructure/superstructure.h"
#include "y2022/control_loops/superstructure/turret/turret_plant.h"
-#include "frc971/control_loops/subsystem_simulator.h"
DEFINE_string(output_folder, "",
"If set, logs all channels to the provided logfile.");
@@ -35,10 +36,11 @@
PotAndAbsoluteEncoderSubsystem;
typedef Superstructure::RelativeEncoderSubsystem RelativeEncoderSubsystem;
using DrivetrainStatus = ::frc971::control_loops::drivetrain::Status;
-using PotAndAbsoluteEncoderSimulator = frc971::control_loops::SubsystemSimulator<
- frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus,
- PotAndAbsoluteEncoderSubsystem::State,
- constants::Values::PotAndAbsEncoderConstants>;
+using PotAndAbsoluteEncoderSimulator =
+ frc971::control_loops::SubsystemSimulator<
+ frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus,
+ PotAndAbsoluteEncoderSubsystem::State,
+ constants::Values::PotAndAbsEncoderConstants>;
using RelativeEncoderSimulator = frc971::control_loops::SubsystemSimulator<
frc971::control_loops::RelativeEncoderProfiledJointStatus,
RelativeEncoderSubsystem::State, constants::Values::PotConstants>;
diff --git a/y2022/control_loops/superstructure/superstructure_replay.cc b/y2022/control_loops/superstructure/superstructure_replay.cc
index b05cdb9..d7f03e6 100644
--- a/y2022/control_loops/superstructure/superstructure_replay.cc
+++ b/y2022/control_loops/superstructure/superstructure_replay.cc
@@ -1,8 +1,10 @@
-// This binary allows us to replay the superstructure code over existing logfile.
-// When you run this code, it generates a new logfile with the data all
+// This binary allows us to replay the superstructure code over existing
+// logfile. When you run this code, it generates a new logfile with the data all
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original superstructure status data will be on the
// /original/superstructure channel.
+#include "gflags/gflags.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
@@ -10,7 +12,6 @@
#include "aos/json_to_flatbuffer.h"
#include "aos/logging/log_message_generated.h"
#include "aos/network/team_number.h"
-#include "gflags/gflags.h"
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/superstructure.h"
diff --git a/y2022/localizer/kernel/adis16505.c b/y2022/localizer/kernel/adis16505.c
index 963ca4a..f0eb6ae 100644
--- a/y2022/localizer/kernel/adis16505.c
+++ b/y2022/localizer/kernel/adis16505.c
@@ -8,14 +8,12 @@
#include <linux/kernel.h> /* Needed for pr_info() */
#include <linux/kfifo.h>
#include <linux/module.h> /* Needed by all modules */
-#include <linux/poll.h>
-
-#include <linux/of_gpio.h>
-#include <linux/spi/spi.h>
-#include <linux/of_address.h>
#include <linux/of.h>
+#include <linux/of_address.h>
+#include <linux/of_gpio.h>
#include <linux/of_platform.h>
-
+#include <linux/poll.h>
+#include <linux/spi/spi.h>
MODULE_LICENSE("GPL");
MODULE_AUTHOR("frc971");
@@ -115,10 +113,10 @@
return -EAGAIN;
}
- err = wait_event_interruptible(ts->wq,
- (spin_lock(&ts->fifo_read_lock),
- empty = !kfifo_is_empty(&ts->fifo),
- spin_unlock(&ts->fifo_read_lock), empty));
+ err = wait_event_interruptible(
+ ts->wq,
+ (spin_lock(&ts->fifo_read_lock), empty = !kfifo_is_empty(&ts->fifo),
+ spin_unlock(&ts->fifo_read_lock), empty));
if (err != 0) {
return err;
}
@@ -330,4 +328,4 @@
.remove = adis16505_remove,
};
-module_spi_driver(adis16505_driver);
+module_spi_driver(adis16505_driver);
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index ec81573..b774e18 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -909,43 +909,43 @@
absl::StrCat("/", kPisToUse[camera_index], "/camera"));
}
aos::TimerHandler *estimate_timer = event_loop_->AddTimer([this]() {
- const bool maybe_in_auto = utils_.MaybeInAutonomous();
- model_based_.set_use_aggressive_image_corrections(!maybe_in_auto);
- for (size_t camera_index = 0; camera_index < kPisToUse.size();
- ++camera_index) {
- if (model_based_.NumQueuedImageDebugs() ==
- ModelBasedLocalizer::kDebugBufferSize ||
- (last_visualization_send_ + kMinVisualizationPeriod <
- event_loop_->monotonic_now())) {
- auto builder = visualization_sender_.MakeBuilder();
- visualization_sender_.CheckOk(
- builder.Send(model_based_.PopulateVisualization(builder.fbb())));
+ const bool maybe_in_auto = utils_.MaybeInAutonomous();
+ model_based_.set_use_aggressive_image_corrections(!maybe_in_auto);
+ for (size_t camera_index = 0; camera_index < kPisToUse.size();
+ ++camera_index) {
+ if (model_based_.NumQueuedImageDebugs() ==
+ ModelBasedLocalizer::kDebugBufferSize ||
+ (last_visualization_send_ + kMinVisualizationPeriod <
+ event_loop_->monotonic_now())) {
+ auto builder = visualization_sender_.MakeBuilder();
+ visualization_sender_.CheckOk(
+ builder.Send(model_based_.PopulateVisualization(builder.fbb())));
+ }
+ if (target_estimate_fetchers_[camera_index].Fetch()) {
+ const std::optional<aos::monotonic_clock::duration> monotonic_offset =
+ utils_.ClockOffset(kPisToUse[camera_index]);
+ if (!monotonic_offset.has_value()) {
+ model_based_.TallyRejection(
+ RejectionReason::MESSAGE_BRIDGE_DISCONNECTED);
+ continue;
}
- if (target_estimate_fetchers_[camera_index].Fetch()) {
- const std::optional<aos::monotonic_clock::duration> monotonic_offset =
- utils_.ClockOffset(kPisToUse[camera_index]);
- if (!monotonic_offset.has_value()) {
- model_based_.TallyRejection(
- RejectionReason::MESSAGE_BRIDGE_DISCONNECTED);
- continue;
- }
- // TODO(james): Get timestamp from message contents.
- aos::monotonic_clock::time_point capture_time(
- target_estimate_fetchers_[camera_index]
- .context()
- .monotonic_remote_time -
- monotonic_offset.value());
- if (capture_time > target_estimate_fetchers_[camera_index]
- .context()
- .monotonic_event_time) {
- model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
- continue;
- }
- capture_time -= imu_watcher_.pico_offset_error();
- model_based_.HandleImageMatch(
- capture_time, target_estimate_fetchers_[camera_index].get(),
- camera_index);
+ // TODO(james): Get timestamp from message contents.
+ aos::monotonic_clock::time_point capture_time(
+ target_estimate_fetchers_[camera_index]
+ .context()
+ .monotonic_remote_time -
+ monotonic_offset.value());
+ if (capture_time > target_estimate_fetchers_[camera_index]
+ .context()
+ .monotonic_event_time) {
+ model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
+ continue;
}
+ capture_time -= imu_watcher_.pico_offset_error();
+ model_based_.HandleImageMatch(
+ capture_time, target_estimate_fetchers_[camera_index].get(),
+ camera_index);
+ }
}
});
event_loop_->OnRun([this, estimate_timer]() {
@@ -959,7 +959,6 @@
aos::monotonic_clock::time_point sample_time_pi,
std::optional<Eigen::Vector2d> encoders, Eigen::Vector3d gyro,
Eigen::Vector3d accel) {
-
model_based_.HandleImu(
sample_time_pico, gyro, accel, encoders,
utils_.VoltageOrZero(event_loop_->context().monotonic_event_time));
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index 59ad75c..fb56436 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -3,6 +3,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
+
#include "aos/containers/ring_buffer.h"
#include "aos/containers/sized_array.h"
#include "aos/events/event_loop.h"
diff --git a/y2022/localizer/localizer_main.cc b/y2022/localizer/localizer_main.cc
index fab1d51..29c2f1e 100644
--- a/y2022/localizer/localizer_main.cc
+++ b/y2022/localizer/localizer_main.cc
@@ -1,7 +1,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "y2022/localizer/localizer.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+#include "y2022/localizer/localizer.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
diff --git a/y2022/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
index 6dcbb1e..e706421 100644
--- a/y2022/localizer/localizer_replay.cc
+++ b/y2022/localizer/localizer_replay.cc
@@ -1,15 +1,16 @@
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
-#include "aos/util/simulation_logger.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
+#include "aos/util/simulation_logger.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
#include "y2022/localizer/localizer.h"
#include "y2022/localizer/localizer_schema.h"
-#include "gflags/gflags.h"
-#include "y2022/control_loops/drivetrain/drivetrain_base.h"
DEFINE_string(config, "y2022/aos_config.json",
"Name of the config file to replay using.");
@@ -39,10 +40,8 @@
// open logfiles
aos::logger::LogReader reader(logfiles, &config.message());
- reader.RemapLoggedChannel("/localizer",
- "frc971.controls.LocalizerStatus");
- reader.RemapLoggedChannel("/localizer",
- "frc971.controls.LocalizerOutput");
+ reader.RemapLoggedChannel("/localizer", "frc971.controls.LocalizerStatus");
+ reader.RemapLoggedChannel("/localizer", "frc971.controls.LocalizerOutput");
reader.RemapLoggedChannel("/localizer",
"frc971.controls.LocalizerVisualization");
diff --git a/y2022/localizer/localizer_test.cc b/y2022/localizer/localizer_test.cc
index ef14972..6083143 100644
--- a/y2022/localizer/localizer_test.cc
+++ b/y2022/localizer/localizer_test.cc
@@ -1,10 +1,11 @@
#include "y2022/localizer/localizer.h"
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/pose.h"
-#include "gtest/gtest.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
#include "y2022/vision/target_estimate_generated.h"
diff --git a/y2022/setpoint_setter.cc b/y2022/setpoint_setter.cc
index b588636..fa1e536 100644
--- a/y2022/setpoint_setter.cc
+++ b/y2022/setpoint_setter.cc
@@ -1,7 +1,8 @@
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "y2022/setpoint_generated.h"
DEFINE_double(catapult_position, 0.03, "Catapult shot position");
diff --git a/y2022/vision/ball_color.cc b/y2022/vision/ball_color.cc
index dd1ae6e..b1ebd85 100644
--- a/y2022/vision/ball_color.cc
+++ b/y2022/vision/ball_color.cc
@@ -2,15 +2,16 @@
#include <chrono>
#include <cmath>
-#include <opencv2/highgui/highgui.hpp>
#include <thread>
+#include "glog/logging.h"
+#include "opencv2/imgproc.hpp"
+#include <opencv2/highgui/highgui.hpp>
+
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
-#include "opencv2/imgproc.hpp"
namespace y2022 {
namespace vision {
diff --git a/y2022/vision/ball_color_test.cc b/y2022/vision/ball_color_test.cc
index b8ad359..96f59aa 100644
--- a/y2022/vision/ball_color_test.cc
+++ b/y2022/vision/ball_color_test.cc
@@ -1,14 +1,15 @@
#include "y2022/vision/ball_color.h"
#include <cmath>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include "aos/events/simulated_event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/test_logging.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
#include "y2022/constants.h"
DEFINE_string(output_folder, "",
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 228d8d7..2c6ff44 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -4,13 +4,14 @@
#include <optional>
#include <string>
-#include "aos/network/team_number.h"
-#include "aos/time/time.h"
-#include "frc971/vision/geometry.h"
#include "opencv2/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc.hpp"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "frc971/vision/geometry.h"
+
DEFINE_bool(
use_outdoors, true,
"If set, use the color filters and exposure for an outdoor setting.");
diff --git a/y2022/vision/calibrate_extrinsics.cc b/y2022/vision/calibrate_extrinsics.cc
index 6793bc4..d8b57dc 100644
--- a/y2022/vision/calibrate_extrinsics.cc
+++ b/y2022/vision/calibrate_extrinsics.cc
@@ -1,6 +1,7 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "absl/strings/str_format.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/init.h"
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index b64bc2b..ba7abaf 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -4,6 +4,8 @@
#include <cmath>
#include <thread>
+#include "opencv2/imgproc.hpp"
+
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
@@ -11,7 +13,6 @@
#include "frc971/vision/calibration_generated.h"
#include "frc971/vision/v4l2_reader.h"
#include "frc971/vision/vision_generated.h"
-#include "opencv2/imgproc.hpp"
#include "y2022/vision/blob_detector.h"
DEFINE_string(image_png, "", "A set of PNG images");
diff --git a/y2022/vision/image_decimator.cc b/y2022/vision/image_decimator.cc
index 5fda423..b3cf2e0 100644
--- a/y2022/vision/image_decimator.cc
+++ b/y2022/vision/image_decimator.cc
@@ -1,6 +1,6 @@
#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
#include "aos/flatbuffers.h"
+#include "aos/init.h"
#include "frc971/vision/vision_generated.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
@@ -14,17 +14,14 @@
: slow_image_sender_(
event_loop->MakeSender<CameraImage>("/camera/decimated")),
image_fetcher_(event_loop->MakeFetcher<CameraImage>("/camera")) {
- aos::TimerHandler *timer =
- event_loop->AddTimer(
- [this]() {
- if (image_fetcher_.Fetch()) {
- const aos::FlatbufferSpan<CameraImage> image(
- {reinterpret_cast<const uint8_t *>(
- image_fetcher_.context().data),
- image_fetcher_.context().size});
- slow_image_sender_.CheckOk(slow_image_sender_.Send(image));
- }
- });
+ aos::TimerHandler *timer = event_loop->AddTimer([this]() {
+ if (image_fetcher_.Fetch()) {
+ const aos::FlatbufferSpan<CameraImage> image(
+ {reinterpret_cast<const uint8_t *>(image_fetcher_.context().data),
+ image_fetcher_.context().size});
+ slow_image_sender_.CheckOk(slow_image_sender_.Send(image));
+ }
+ });
event_loop->OnRun([event_loop, timer]() {
timer->Setup(event_loop->monotonic_now(),
std::chrono::milliseconds(1000));
@@ -35,7 +32,7 @@
aos::Sender<CameraImage> slow_image_sender_;
aos::Fetcher<CameraImage> image_fetcher_;
};
-}
+} // namespace frc971::vision
int main(int argc, char *argv[]) {
aos::InitGoogle(&argc, &argv);
diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
index b84cf21..ff72b11 100644
--- a/y2022/vision/target_estimator.cc
+++ b/y2022/vision/target_estimator.cc
@@ -1,15 +1,16 @@
#include "y2022/vision/target_estimator.h"
#include "absl/strings/str_format.h"
-#include "aos/time/time.h"
#include "ceres/ceres.h"
-#include "frc971/control_loops/quaternion_utils.h"
-#include "frc971/vision/geometry.h"
#include "opencv2/core/core.hpp"
#include "opencv2/core/eigen.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc.hpp"
+
+#include "aos/time/time.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/geometry.h"
#include "y2022/constants.h"
DEFINE_bool(freeze_roll, false, "If true, don't solve for roll");
diff --git a/y2022/vision/target_estimator.h b/y2022/vision/target_estimator.h
index ac170e8..7a2b9a2 100644
--- a/y2022/vision/target_estimator.h
+++ b/y2022/vision/target_estimator.h
@@ -7,6 +7,7 @@
#include "Eigen/Geometry"
#include "opencv2/core/types.hpp"
#include "opencv2/imgproc.hpp"
+
#include "y2022/vision/blob_detector.h"
#include "y2022/vision/target_estimate_generated.h"
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index e455f66..58db722 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -1,12 +1,13 @@
#include <algorithm>
#include <map>
+#include <random>
+
+#include "absl/strings/str_format.h"
#include <opencv2/calib3d.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include <random>
-#include "absl/strings/str_format.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/time/time.h"
diff --git a/y2022/vision/viewer_replay.cc b/y2022/vision/viewer_replay.cc
index 5d09d55..66087e5 100644
--- a/y2022/vision/viewer_replay.cc
+++ b/y2022/vision/viewer_replay.cc
@@ -1,13 +1,14 @@
+#include "opencv2/calib3d.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc.hpp"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/vision/vision_generated.h"
-#include "opencv2/calib3d.hpp"
-#include "opencv2/features2d.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include "opencv2/imgproc.hpp"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
#include "y2022/vision/blob_detector.h"
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 8df3a3a..39e8dd2 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -12,6 +12,7 @@
#include <thread>
#include "ctre/phoenix/CANifier.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
@@ -22,6 +23,9 @@
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR
+#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
+#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+
#include "aos/commonmath.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
@@ -32,8 +36,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
-#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
diff --git a/y2022_bot3/actors/autonomous_actor.cc b/y2022_bot3/actors/autonomous_actor.cc
index 814921d..334c7c4 100644
--- a/y2022_bot3/actors/autonomous_actor.cc
+++ b/y2022_bot3/actors/autonomous_actor.cc
@@ -174,7 +174,8 @@
void AutonomousActor::SendSuperstructureGoal() {
auto builder = superstructure_goal_sender_.MakeBuilder();
- superstructure::Goal::Builder superstructure_builder = builder.MakeBuilder<superstructure::Goal>();
+ superstructure::Goal::Builder superstructure_builder =
+ builder.MakeBuilder<superstructure::Goal>();
if (builder.Send(superstructure_builder.Finish()) !=
aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
diff --git a/y2022_bot3/constants.cc b/y2022_bot3/constants.cc
index 2ecae68..7ec5187 100644
--- a/y2022_bot3/constants.cc
+++ b/y2022_bot3/constants.cc
@@ -8,9 +8,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
-#include "glog/logging.h"
#include "y2022_bot3/control_loops/superstructure/climber/integral_climber_plant.h"
#include "y2022_bot3/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc
index 8eb6064..614bc08 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,13 +1,14 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/subsystem_simulator.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2022_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2022_bot3/control_loops/superstructure/superstructure.h"
diff --git a/y2022_bot3/control_loops/superstructure/superstructure_replay.cc b/y2022_bot3/control_loops/superstructure/superstructure_replay.cc
index 4e041fc..e7b81cd 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure_replay.cc
+++ b/y2022_bot3/control_loops/superstructure/superstructure_replay.cc
@@ -3,6 +3,8 @@
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original superstructure status data will be on the
// /original/superstructure channel.
+#include "gflags/gflags.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
@@ -10,7 +12,6 @@
#include "aos/json_to_flatbuffer.h"
#include "aos/logging/log_message_generated.h"
#include "aos/network/team_number.h"
-#include "gflags/gflags.h"
#include "y2022_bot3/constants.h"
#include "y2022_bot3/control_loops/superstructure/superstructure.h"
diff --git a/y2022_bot3/wpilib_interface.cc b/y2022_bot3/wpilib_interface.cc
index b1fb08a..b917ddb 100644
--- a/y2022_bot3/wpilib_interface.cc
+++ b/y2022_bot3/wpilib_interface.cc
@@ -12,6 +12,7 @@
#include <thread>
#include "ctre/phoenix/CANifier.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
@@ -22,6 +23,9 @@
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR
+#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
+#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+
#include "aos/commonmath.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
@@ -32,8 +36,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
-#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
@@ -89,10 +91,10 @@
}
// TODO(niko): Might have to move these to medium once we know the actual values
-constexpr double kMaxFastEncoderPulsesPerSecond = std::max(
- {Values::kMaxDrivetrainEncoderPulsesPerSecond(),
- Values::kMaxIntakeEncoderPulsesPerSecond(),
- Values::kMaxClimberEncoderPulsesPerSecond()});
+constexpr double kMaxFastEncoderPulsesPerSecond =
+ std::max({Values::kMaxDrivetrainEncoderPulsesPerSecond(),
+ Values::kMaxIntakeEncoderPulsesPerSecond(),
+ Values::kMaxClimberEncoderPulsesPerSecond()});
static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
"fast encoders are too fast");
constexpr double kMaxMediumEncoderPulsesPerSecond = 0;
@@ -203,8 +205,8 @@
CopyPosition(climber_encoder_right_, &climber_right,
Values::kClimberEncoderCountsPerRevolution(),
(Values::kClimberEncoderRatio() *
- Values::kClimberEncoderCountsPerRevolution()) /
- (2.0 * M_PI),
+ Values::kClimberEncoderCountsPerRevolution()) /
+ (2.0 * M_PI),
climber_pot_translate, true,
values_->climber_right.potentiometer_offset);
@@ -212,8 +214,8 @@
CopyPosition(climber_encoder_left_, &climber_left,
Values::kClimberEncoderCountsPerRevolution(),
(Values::kClimberEncoderRatio() *
- Values::kClimberEncoderCountsPerRevolution()) /
- (2.0 * M_PI),
+ Values::kClimberEncoderCountsPerRevolution()) /
+ (2.0 * M_PI),
climber_pot_translate, true,
values_->climber_left.potentiometer_offset);
diff --git a/y2023/autonomous/auto_splines.cc b/y2023/autonomous/auto_splines.cc
index 20593f9..aa6497c 100644
--- a/y2023/autonomous/auto_splines.cc
+++ b/y2023/autonomous/auto_splines.cc
@@ -1,7 +1,7 @@
#include "y2023/autonomous/auto_splines.h"
-#include "frc971/control_loops/control_loops_generated.h"
#include "aos/flatbuffer_merge.h"
+#include "frc971/control_loops/control_loops_generated.h"
namespace y2023 {
namespace autonomous {
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 4ef5670..3d49cf8 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -8,9 +8,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
-#include "glog/logging.h"
#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
#include "y2023/control_loops/superstructure/wrist/integral_wrist_plant.h"
diff --git a/y2023/constants/constants_sender.cc b/y2023/constants/constants_sender.cc
index 77fb24d..757a374 100644
--- a/y2023/constants/constants_sender.cc
+++ b/y2023/constants/constants_sender.cc
@@ -1,10 +1,11 @@
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "frc971/constants/constants_sender_lib.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
#include "y2023/constants/constants_generated.h"
#include "y2023/constants/constants_list_generated.h"
diff --git a/y2023/constants/simulated_constants_sender.cc b/y2023/constants/simulated_constants_sender.cc
index 8bfc17d..3793234 100644
--- a/y2023/constants/simulated_constants_sender.cc
+++ b/y2023/constants/simulated_constants_sender.cc
@@ -1,8 +1,8 @@
-#include "y2023/constants/constants_generated.h"
-#include "y2023/constants/constants_list_generated.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
#include "frc971/constants/constants_sender_lib.h"
+#include "y2023/constants/constants_generated.h"
+#include "y2023/constants/constants_list_generated.h"
namespace y2023 {
bool SendSimulationConstants(aos::SimulatedEventLoopFactory *factory, int team,
diff --git a/y2023/control_loops/drivetrain/target_selector_test.cc b/y2023/control_loops/drivetrain/target_selector_test.cc
index 21f3fe6..3b04b42 100644
--- a/y2023/control_loops/drivetrain/target_selector_test.cc
+++ b/y2023/control_loops/drivetrain/target_selector_test.cc
@@ -1,7 +1,8 @@
#include "y2023/control_loops/drivetrain/target_selector.h"
-#include "frc971/input/joystick_state_generated.h"
#include "gtest/gtest.h"
+
+#include "frc971/input/joystick_state_generated.h"
#include "y2023/constants/simulated_constants_sender.h"
using Side = frc971::control_loops::drivetrain::RobotSide;
diff --git a/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc b/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc
index 578bf1f..699cfcf 100644
--- a/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc
+++ b/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc
@@ -1,13 +1,14 @@
#include <iostream>
#include <memory>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffers.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "frc971/control_loops/double_jointed_arm/graph.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
#include "y2023/constants.h"
#include "y2023/control_loops/superstructure/arm/arm_constants.h"
#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
diff --git a/y2023/control_loops/superstructure/arm/trajectory.cc b/y2023/control_loops/superstructure/arm/trajectory.cc
index 88e3d1b..cbdfee8 100644
--- a/y2023/control_loops/superstructure/arm/trajectory.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory.cc
@@ -1,12 +1,13 @@
#include "y2023/control_loops/superstructure/arm/trajectory.h"
#include "Eigen/Dense"
+#include "gflags/gflags.h"
+
#include "aos/logging/logging.h"
#include "frc971/control_loops/dlqr.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
#include "frc971/control_loops/runge_kutta.h"
-#include "gflags/gflags.h"
#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
DEFINE_double(lqr_proximal_pos, 0.5, "Position LQR gain");
diff --git a/y2023/control_loops/superstructure/arm/trajectory.h b/y2023/control_loops/superstructure/arm/trajectory.h
index e498168..7994d60 100644
--- a/y2023/control_loops/superstructure/arm/trajectory.h
+++ b/y2023/control_loops/superstructure/arm/trajectory.h
@@ -8,6 +8,7 @@
#include <vector>
#include "Eigen/Dense"
+
#include "frc971/control_loops/binomial.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/fixed_quadrature.h"
diff --git a/y2023/control_loops/superstructure/arm/trajectory_plot.cc b/y2023/control_loops/superstructure/arm/trajectory_plot.cc
index 24bc8dd..16c8771 100644
--- a/y2023/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,10 +1,11 @@
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "frc971/analysis/in_process_plotter.h"
#include "frc971/control_loops/binomial.h"
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "frc971/control_loops/fixed_quadrature.h"
-#include "gflags/gflags.h"
#include "y2023/control_loops/superstructure/arm/arm_constants.h"
#include "y2023/control_loops/superstructure/arm/generated_graph.h"
#include "y2023/control_loops/superstructure/arm/trajectory.h"
@@ -62,7 +63,8 @@
<< ", kAlpha2Max=" << FLAGS_alpha2_max;
const ::Eigen::DiagonalMatrix<double, 3> alpha_unitizer(
- (::Eigen::DiagonalMatrix<double, 3>().diagonal() << (1.0 / FLAGS_alpha0_max),
+ (::Eigen::DiagonalMatrix<double, 3>().diagonal()
+ << (1.0 / FLAGS_alpha0_max),
(1.0 / FLAGS_alpha1_max), (1.0 / FLAGS_alpha2_max))
.finished());
trajectory.OptimizeTrajectory(alpha_unitizer, FLAGS_vmax_plan);
diff --git a/y2023/control_loops/superstructure/arm/trajectory_test.cc b/y2023/control_loops/superstructure/arm/trajectory_test.cc
index bcf338c..8af7ba7 100644
--- a/y2023/control_loops/superstructure/arm/trajectory_test.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory_test.cc
@@ -1,8 +1,9 @@
#include "y2023/control_loops/superstructure/arm/trajectory.h"
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "gtest/gtest.h"
#include "y2023/control_loops/superstructure/arm/arm_constants.h"
#include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
diff --git a/y2023/control_loops/superstructure/end_effector.cc b/y2023/control_loops/superstructure/end_effector.cc
index b600bbb..8628359 100644
--- a/y2023/control_loops/superstructure/end_effector.cc
+++ b/y2023/control_loops/superstructure/end_effector.cc
@@ -18,9 +18,9 @@
beambreak_(false) {}
void EndEffector::RunIteration(
- const ::aos::monotonic_clock::time_point timestamp,
- RollerGoal roller_goal, double falcon_current, double cone_position,
- bool beambreak, double *roller_voltage, bool preloaded_with_cone) {
+ const ::aos::monotonic_clock::time_point timestamp, RollerGoal roller_goal,
+ double falcon_current, double cone_position, bool beambreak,
+ double *roller_voltage, bool preloaded_with_cone) {
*roller_voltage = 0.0;
constexpr double kMinCurrent = 40.0;
diff --git a/y2023/control_loops/superstructure/led_indicator.h b/y2023/control_loops/superstructure/led_indicator.h
index dfdf4b1..eb5f037 100644
--- a/y2023/control_loops/superstructure/led_indicator.h
+++ b/y2023/control_loops/superstructure/led_indicator.h
@@ -1,10 +1,11 @@
#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_
#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_LED_INDICATOR_H_
+#include "ctre/phoenix/led/CANdle.h"
+
#include "aos/events/event_loop.h"
#include "aos/network/message_bridge_client_generated.h"
#include "aos/network/message_bridge_server_generated.h"
-#include "ctre/phoenix/led/CANdle.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index b555277..26b88f3 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,13 +1,14 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/subsystem_simulator.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2023/constants/simulated_constants_sender.h"
#include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"
diff --git a/y2023/control_loops/superstructure/superstructure_replay.cc b/y2023/control_loops/superstructure/superstructure_replay.cc
index 9bd3ae2..6f23ec2 100644
--- a/y2023/control_loops/superstructure/superstructure_replay.cc
+++ b/y2023/control_loops/superstructure/superstructure_replay.cc
@@ -3,6 +3,8 @@
// replayed, so that it can then be run through the plotting tool or analyzed
// in some other way. The original superstructure status data will be on the
// /original/superstructure channel.
+#include "gflags/gflags.h"
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
@@ -10,7 +12,6 @@
#include "aos/json_to_flatbuffer.h"
#include "aos/logging/log_message_generated.h"
#include "aos/network/team_number.h"
-#include "gflags/gflags.h"
#include "y2023/constants.h"
#include "y2023/control_loops/superstructure/superstructure.h"
diff --git a/y2023/joystick_republish.cc b/y2023/joystick_republish.cc
index 9542001..ae6f340 100644
--- a/y2023/joystick_republish.cc
+++ b/y2023/joystick_republish.cc
@@ -1,13 +1,13 @@
#include <sys/resource.h>
#include <sys/time.h>
+#include "glog/logging.h"
+
#include "aos/configuration.h"
-#include "aos/init.h"
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/init.h"
#include "frc971/input/joystick_state_generated.h"
-#include "glog/logging.h"
DEFINE_string(config, "aos_config.json", "Config file to use.");
diff --git a/y2023/localizer/localizer.cc b/y2023/localizer/localizer.cc
index 79a7f21..76784fb 100644
--- a/y2023/localizer/localizer.cc
+++ b/y2023/localizer/localizer.cc
@@ -1,9 +1,10 @@
#include "y2023/localizer/localizer.h"
+#include "gflags/gflags.h"
+
#include "aos/containers/sized_array.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/control_loops/pose.h"
-#include "gflags/gflags.h"
#include "y2023/constants.h"
#include "y2023/localizer/utils.h"
diff --git a/y2023/localizer/localizer_replay.cc b/y2023/localizer/localizer_replay.cc
index 27f0d18..27fdd85 100644
--- a/y2023/localizer/localizer_replay.cc
+++ b/y2023/localizer/localizer_replay.cc
@@ -1,3 +1,5 @@
+#include "gflags/gflags.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -6,7 +8,6 @@
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
#include "aos/util/simulation_logger.h"
-#include "gflags/gflags.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
#include "y2023/localizer/localizer.h"
@@ -35,14 +36,12 @@
// open logfiles
aos::logger::LogReader reader(logfiles, &config.message());
- reader.RemapLoggedChannel("/localizer",
- "y2023.localizer.Status");
+ reader.RemapLoggedChannel("/localizer", "y2023.localizer.Status");
for (const auto pi : {"pi1", "pi2", "pi3", "pi4"}) {
reader.RemapLoggedChannel(absl::StrCat("/", pi, "/camera"),
"y2023.localizer.Visualization");
}
- reader.RemapLoggedChannel("/localizer",
- "frc971.controls.LocalizerOutput");
+ reader.RemapLoggedChannel("/localizer", "frc971.controls.LocalizerOutput");
auto factory =
std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());
diff --git a/y2023/localizer/localizer_test.cc b/y2023/localizer/localizer_test.cc
index 2cb5756..f7efc9c 100644
--- a/y2023/localizer/localizer_test.cc
+++ b/y2023/localizer/localizer_test.cc
@@ -1,12 +1,13 @@
#include "y2023/localizer/localizer.h"
+#include "gtest/gtest.h"
+
#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/control_loops/pose.h"
#include "frc971/vision/target_map_generated.h"
-#include "gtest/gtest.h"
#include "y2023/constants/simulated_constants_sender.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
#include "y2023/localizer/status_generated.h"
diff --git a/y2023/localizer/map_expander.cc b/y2023/localizer/map_expander.cc
index e13c0a1..32efcd8 100644
--- a/y2023/localizer/map_expander.cc
+++ b/y2023/localizer/map_expander.cc
@@ -1,6 +1,7 @@
+#include "gflags/gflags.h"
+
#include "aos/init.h"
#include "aos/util/file.h"
-#include "gflags/gflags.h"
#include "y2023/localizer/map_expander_lib.h"
DEFINE_string(target_map, "y2023/vision/maps/target_map.json",
diff --git a/y2023/localizer/map_expander_lib.h b/y2023/localizer/map_expander_lib.h
index 773a769..5579e18 100644
--- a/y2023/localizer/map_expander_lib.h
+++ b/y2023/localizer/map_expander_lib.h
@@ -1,9 +1,10 @@
#ifndef Y2023_LOCALIZER_MAP_EXPANDER_LIB_H_
#define Y2023_LOCALIZER_MAP_EXPANDER_LIB_H_
-#include <Eigen/Dense>
#include <map>
+#include <Eigen/Dense>
+
#include "aos/flatbuffers.h"
#include "aos/json_to_flatbuffer.h"
#include "frc971/vision/target_map_generated.h"
diff --git a/y2023/localizer/map_expander_lib_test.cc b/y2023/localizer/map_expander_lib_test.cc
index 5b353a1..d4a248b 100644
--- a/y2023/localizer/map_expander_lib_test.cc
+++ b/y2023/localizer/map_expander_lib_test.cc
@@ -1,6 +1,7 @@
#include "y2023/localizer/map_expander_lib.h"
#include "gtest/gtest.h"
+
#include "aos/testing/flatbuffer_eq.h"
namespace y2023::localizer::testing {
diff --git a/y2023/ssd_profiler.cc b/y2023/ssd_profiler.cc
index 2805680..e40f81a 100644
--- a/y2023/ssd_profiler.cc
+++ b/y2023/ssd_profiler.cc
@@ -5,11 +5,12 @@
#include <chrono>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/init.h"
#include "aos/realtime.h"
#include "aos/time/time.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
namespace chrono = std::chrono;
@@ -22,7 +23,7 @@
DEFINE_uint32(chunks, 1, "Chunks to write using writev.");
DEFINE_uint32(chunk_size, 512, "Chunk size to write using writev.");
-int main(int argc, char ** argv) {
+int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
std::vector<uint8_t> data;
@@ -52,13 +53,14 @@
iovec[i].iov_base = &data[i * FLAGS_chunk_size];
iovec[i].iov_len = FLAGS_chunk_size;
}
- iovec[FLAGS_chunks - 1].iov_base = &data[(FLAGS_chunks - 1) * FLAGS_chunk_size];
- iovec[FLAGS_chunks - 1].iov_len = data.size() - (FLAGS_chunks - 1) * FLAGS_chunk_size;
+ iovec[FLAGS_chunks - 1].iov_base =
+ &data[(FLAGS_chunks - 1) * FLAGS_chunk_size];
+ iovec[FLAGS_chunks - 1].iov_len =
+ data.size() - (FLAGS_chunks - 1) * FLAGS_chunk_size;
- int fd = open(
- FLAGS_file.c_str(),
- O_RDWR | O_CLOEXEC | O_CREAT | (FLAGS_direct ? O_DIRECT : 0),
- 0774);
+ int fd =
+ open(FLAGS_file.c_str(),
+ O_RDWR | O_CLOEXEC | O_CREAT | (FLAGS_direct ? O_DIRECT : 0), 0774);
PCHECK(fd != -1);
const aos::monotonic_clock::time_point start_time =
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index ca057fd..d5168c1 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -86,6 +86,7 @@
"//third_party:opencv",
"//y2023/constants:constants_fbs",
"//y2023/constants:simulated_constants_sender",
+ "@org_tuxfamily_eigen//:eigen",
],
)
@@ -122,6 +123,7 @@
"//third_party:opencv",
"//third_party/apriltag",
"//y2023/constants:constants_fbs",
+ "@org_tuxfamily_eigen//:eigen",
],
)
diff --git a/y2023/vision/april_detection_test.cc b/y2023/vision/april_detection_test.cc
index b92557c..fea5105 100644
--- a/y2023/vision/april_detection_test.cc
+++ b/y2023/vision/april_detection_test.cc
@@ -1,17 +1,18 @@
#include <string>
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
#include "aos/events/simulated_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
-#include "aprilrobotics.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/vision/target_mapper.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
-#include "gtest/gtest.h"
#include "y2023/constants/constants_generated.h"
#include "y2023/constants/constants_list_generated.h"
+#include "y2023/vision/aprilrobotics.h"
namespace y2023::vision::testing {
class AprilDetectionTest : public ::testing::Test {
diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index 01e3138..123f352 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -1,6 +1,13 @@
#include <string>
+#include "Eigen/Dense"
+#include "opencv2/core/eigen.hpp"
+#include "opencv2/imgproc.hpp"
+#include "third_party/apriltag/apriltag.h"
+#include "third_party/apriltag/apriltag_pose.h"
+#include "third_party/apriltag/tag16h5.h"
+
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/network/team_number.h"
@@ -12,11 +19,6 @@
#include "frc971/vision/target_mapper.h"
#include "frc971/vision/vision_generated.h"
#include "frc971/vision/visualize_robot.h"
-#include "opencv2/core/eigen.hpp"
-#include "opencv2/imgproc.hpp"
-#include "third_party/apriltag/apriltag.h"
-#include "third_party/apriltag/apriltag_pose.h"
-#include "third_party/apriltag/tag16h5.h"
#include "y2023/constants/constants_generated.h"
namespace y2023 {
diff --git a/y2023/vision/aprilrobotics_main.cc b/y2023/vision/aprilrobotics_main.cc
index 6870ae1..5e5bad7 100644
--- a/y2023/vision/aprilrobotics_main.cc
+++ b/y2023/vision/aprilrobotics_main.cc
@@ -1,7 +1,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "y2023/vision/aprilrobotics.h"
#include "frc971/constants/constants_sender_lib.h"
+#include "y2023/vision/aprilrobotics.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
diff --git a/y2023/vision/calibrate_extrinsics.cc b/y2023/vision/calibrate_extrinsics.cc
index 7e650a3..91bdefd 100644
--- a/y2023/vision/calibrate_extrinsics.cc
+++ b/y2023/vision/calibrate_extrinsics.cc
@@ -1,7 +1,8 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
-
#include "absl/strings/str_format.h"
+#include <opencv2/core/eigen.hpp>
+
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
#include "aos/init.h"
@@ -16,8 +17,6 @@
#include "y2023/constants/constants_generated.h"
#include "y2023/vision/vision_util.h"
-#include <opencv2/core/eigen.hpp>
-
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
DEFINE_bool(plot, false, "Whether to plot the resulting data.");
DEFINE_string(target_type, "charuco_diamond",
diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index 3001c04..d5f39a0 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -3,6 +3,7 @@
#include "absl/strings/str_cat.h"
#include "absl/strings/str_split.h"
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/realtime.h"
diff --git a/y2023/vision/foxglove_image_converter.cc b/y2023/vision/foxglove_image_converter.cc
index 8f3032b..bfaafc8 100644
--- a/y2023/vision/foxglove_image_converter.cc
+++ b/y2023/vision/foxglove_image_converter.cc
@@ -1,7 +1,6 @@
-#include "frc971/vision/foxglove_image_converter_lib.h"
-
-#include "aos/init.h"
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "frc971/vision/foxglove_image_converter_lib.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
diff --git a/y2023/vision/game_pieces.h b/y2023/vision/game_pieces.h
index a99a99b..442d95c 100644
--- a/y2023/vision/game_pieces.h
+++ b/y2023/vision/game_pieces.h
@@ -4,7 +4,6 @@
#include "aos/events/shm_event_loop.h"
#include "frc971/vision/vision_generated.h"
#include "y2023/vision/game_pieces_generated.h"
-
#include "y2023/vision/yolov5.h"
namespace y2023 {
diff --git a/y2023/vision/image_logger.cc b/y2023/vision/image_logger.cc
index 29a95db..c2cfa0a 100644
--- a/y2023/vision/image_logger.cc
+++ b/y2023/vision/image_logger.cc
@@ -1,14 +1,15 @@
#include <sys/resource.h>
#include <sys/time.h>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_writer.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/log_namer.h"
#include "frc971/input/joystick_state_generated.h"
-#include "gflags/gflags.h"
-#include "glog/logging.h"
DEFINE_string(config, "aos_config.json", "Config file to use.");
diff --git a/y2023/vision/localization_verifier.cc b/y2023/vision/localization_verifier.cc
index 3b366fa..c16f874 100644
--- a/y2023/vision/localization_verifier.cc
+++ b/y2023/vision/localization_verifier.cc
@@ -1,8 +1,9 @@
+#include "glog/logging.h"
+
#include "aos/init.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
#include "frc971/vision/vision_generated.h"
-#include "glog/logging.h"
#include "y2023/localizer/localizer.h"
#include "y2023/localizer/utils.h"
@@ -89,12 +90,12 @@
const std::string_view pi_name =
camera->calibration()->node_name()->string_view();
- event_loop.MakeWatcher(absl::StrCat("/", pi_name, "/camera"),
- [H_robot_camera, &localizer_fetcher](
- const frc971::vision::TargetMap &target_map) {
- HandleDetections(target_map, H_robot_camera,
- &localizer_fetcher);
- });
+ event_loop.MakeWatcher(
+ absl::StrCat("/", pi_name, "/camera"),
+ [H_robot_camera,
+ &localizer_fetcher](const frc971::vision::TargetMap &target_map) {
+ HandleDetections(target_map, H_robot_camera, &localizer_fetcher);
+ });
}
event_loop.Run();
}
diff --git a/y2023/vision/target_mapping.cc b/y2023/vision/target_mapping.cc
index 804583c..985a412 100644
--- a/y2023/vision/target_mapping.cc
+++ b/y2023/vision/target_mapping.cc
@@ -1,3 +1,12 @@
+#include "Eigen/Dense"
+#include "opencv2/aruco.hpp"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/core/eigen.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc.hpp"
+
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
@@ -7,13 +16,6 @@
#include "frc971/vision/calibration_generated.h"
#include "frc971/vision/target_mapper.h"
#include "frc971/vision/visualize_robot.h"
-#include "opencv2/aruco.hpp"
-#include "opencv2/calib3d.hpp"
-#include "opencv2/core/eigen.hpp"
-#include "opencv2/features2d.hpp"
-#include "opencv2/highgui.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include "opencv2/imgproc.hpp"
#include "y2023/constants/simulated_constants_sender.h"
#include "y2023/vision/aprilrobotics.h"
#include "y2023/vision/vision_util.h"
diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
index 4fb96bc..b518a8e 100644
--- a/y2023/vision/viewer.cc
+++ b/y2023/vision/viewer.cc
@@ -1,15 +1,15 @@
+#include "absl/strings/match.h"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/imgproc.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
-#include "absl/strings/match.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/time/time.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/vision/vision_generated.h"
-#include "opencv2/calib3d.hpp"
-#include "opencv2/imgproc.hpp"
#include "y2023/vision/vision_util.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
diff --git a/y2023/vision/vision_util.h b/y2023/vision/vision_util.h
index 79f5c92..1f4d099 100644
--- a/y2023/vision/vision_util.h
+++ b/y2023/vision/vision_util.h
@@ -3,6 +3,7 @@
#include <string_view>
#include "opencv2/imgproc.hpp"
+
#include "y2023/constants/constants_generated.h"
namespace y2023::vision {
diff --git a/y2023/vision/yolov5.cc b/y2023/vision/yolov5.cc
index 7df4ffb..11f3a49 100644
--- a/y2023/vision/yolov5.cc
+++ b/y2023/vision/yolov5.cc
@@ -8,12 +8,12 @@
#include <tflite/public/edgetpu_c.h>
#include <chrono>
-#include <opencv2/dnn.hpp>
#include <string>
#include "absl/types/span.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
+#include <opencv2/dnn.hpp>
DEFINE_double(conf_threshold, 0.9,
"Threshold value for confidence scores. Detections with a "
diff --git a/y2023/vision/yolov5.h b/y2023/vision/yolov5.h
index 7e2a521..9853b4f 100644
--- a/y2023/vision/yolov5.h
+++ b/y2023/vision/yolov5.h
@@ -6,11 +6,12 @@
#include <cstdint>
#include <fstream>
#include <iostream>
+#include <vector>
+
#include <opencv2/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
-#include <vector>
namespace y2023 {
namespace vision {
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index b1f9018..cc911ab 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -12,6 +12,7 @@
#include <thread>
#include "ctre/phoenix/CANifier.h"
+
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
@@ -22,6 +23,11 @@
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR
+#include "ctre/phoenix/cci/Diagnostics_CCI.h"
+#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
+#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+#include "ctre/phoenixpro/TalonFX.hpp"
+
#include "aos/commonmath.h"
#include "aos/containers/sized_array.h"
#include "aos/events/event_loop.h"
@@ -33,10 +39,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "ctre/phoenix/cci/Diagnostics_CCI.h"
-#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
-#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
-#include "ctre/phoenixpro/TalonFX.hpp"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"