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/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"