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/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[]) {