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/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 {