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tmp: test clang-tidy #2218

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tmp: test clang-tidy #2218

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30 changes: 22 additions & 8 deletions control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <string>
#include <utility>

// tmp
namespace vehicle_cmd_gate
{

Expand All @@ -41,6 +42,7 @@ const char * getGateModeName(const GateMode::_data_type & gate_mode)

} // namespace

// tmp
VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
: Node("vehicle_cmd_gate", node_options), is_engaged_(false), updater_(this)
{
Expand All @@ -67,7 +69,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
pub_external_emergency_ =
this->create_publisher<Emergency>("output/external_emergency", durable_qos);
operation_mode_pub_ = this->create_publisher<OperationMode>("output/operation_mode", durable_qos);

// tmp
// Subscriber
emergency_state_sub_ = this->create_subscription<EmergencyState>(
"input/emergency_state", 1, std::bind(&VehicleCmdGate::onEmergencyState, this, _1));
Expand All @@ -84,7 +86,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
"input/operation_mode", 1, [this](const tier4_system_msgs::msg::OperationMode::SharedPtr msg) {
current_operation_mode_ = *msg;
});

// tmp
// Subscriber for auto
auto_control_cmd_sub_ = this->create_subscription<AckermannControlCommand>(
"input/auto/control_cmd", 1, std::bind(&VehicleCmdGate::onAutoCtrlCmd, this, _1));
Expand All @@ -98,7 +100,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)

auto_gear_cmd_sub_ = this->create_subscription<GearCommand>(
"input/auto/gear_cmd", 1, std::bind(&VehicleCmdGate::onAutoShiftCmd, this, _1));

// tmp
// Subscriber for external
remote_control_cmd_sub_ = this->create_subscription<AckermannControlCommand>(
"input/external/control_cmd", 1, std::bind(&VehicleCmdGate::onRemoteCtrlCmd, this, _1));
Expand All @@ -113,7 +115,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)

remote_gear_cmd_sub_ = this->create_subscription<GearCommand>(
"input/external/gear_cmd", 1, std::bind(&VehicleCmdGate::onRemoteShiftCmd, this, _1));

// tmp
// Subscriber for emergency
emergency_control_cmd_sub_ = this->create_subscription<AckermannControlCommand>(
"input/emergency/control_cmd", 1, std::bind(&VehicleCmdGate::onEmergencyCtrlCmd, this, _1));
Expand All @@ -124,7 +126,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)

emergency_gear_cmd_sub_ = this->create_subscription<GearCommand>(
"input/emergency/gear_cmd", 1, std::bind(&VehicleCmdGate::onEmergencyShiftCmd, this, _1));

// tmp
// Parameter
update_period_ = 1.0 / declare_parameter("update_rate", 10.0);
use_emergency_handling_ = declare_parameter("use_emergency_handling", false);
Expand All @@ -149,7 +151,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
p.actual_steer_diff_lim = declare_parameter("nominal.actual_steer_diff_lim", 1.0);
filter_.setParam(p);
}

// tmp
{
VehicleCmdFilterParam p;
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⚠️ cppcoreguidelines-pro-type-member-init ⚠️
uninitialized record type: p

Suggested change
VehicleCmdFilterParam p;
VehicleCmdFilterParam p{};

p.wheel_base = vehicle_info.wheel_base_m;
Expand All @@ -164,7 +166,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)

// Set default value
current_gate_mode_.data = GateMode::AUTO;

// tmp
// Service
srv_engage_ = create_service<tier4_external_api_msgs::srv::Engage>(
"~/service/engage", std::bind(&VehicleCmdGate::onEngageService, this, _1, _2));
Expand All @@ -184,7 +186,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Alive");
});
updater_.add("emergency_stop_operation", this, &VehicleCmdGate::checkExternalEmergencyStop);

// tmp
// Pause interface
pause_ = std::make_unique<PauseInterface>(this);

Expand Down Expand Up @@ -213,6 +215,7 @@ bool VehicleCmdGate::isHeartbeatTimeout(
return time_from_heartbeat.seconds() > timeout;
}

// tmp
bool VehicleCmdGate::isDataReady()
{
// emergency state must be received before running
Expand Down Expand Up @@ -258,6 +261,7 @@ void VehicleCmdGate::onRemoteCtrlCmd(AckermannControlCommand::ConstSharedPtr msg
}
}

// tmp
void VehicleCmdGate::onRemoteTurnIndicatorsCmd(TurnIndicatorsCommand::ConstSharedPtr msg)
{
remote_commands_.turn_indicator = *msg;
Expand Down Expand Up @@ -291,6 +295,7 @@ void VehicleCmdGate::onEmergencyShiftCmd(GearCommand::ConstSharedPtr msg)
emergency_commands_.gear = *msg;
}

// tmp
void VehicleCmdGate::onTimer()
{
updater_.force_update();
Expand Down Expand Up @@ -337,6 +342,7 @@ void VehicleCmdGate::onTimer()
return;
}

// tmp
// Select commands
TurnIndicatorsCommand turn_indicator;
HazardLightsCommand hazard_light;
Expand Down Expand Up @@ -371,6 +377,7 @@ void VehicleCmdGate::onTimer()
gear_cmd_pub_->publish(gear);
}

// tmp
void VehicleCmdGate::publishControlCommands(const Commands & commands)
{
// Check system emergency
Expand All @@ -396,6 +403,7 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)
filtered_commands.gear = commands.gear; // tmp
}

// tmp
// Check emergency
if (use_emergency_handling_ && is_system_emergency_) {
RCLCPP_WARN_THROTTLE(
Expand Down Expand Up @@ -432,6 +440,7 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)
prev_control_cmd_ = filtered_commands.control;
}

// tmp
void VehicleCmdGate::publishEmergencyStopControlCommands()
{
const auto stamp = this->now();
Expand Down Expand Up @@ -472,6 +481,7 @@ void VehicleCmdGate::publishEmergencyStopControlCommands()
gear_cmd_pub_->publish(gear);
}

// tmp
void VehicleCmdGate::publishStatus()
{
const auto stamp = this->now();
Expand Down Expand Up @@ -516,6 +526,7 @@ AckermannControlCommand VehicleCmdGate::filterControlCommand(const AckermannCont
return out;
}

// tmp
AckermannControlCommand VehicleCmdGate::createStopControlCmd() const
{
AckermannControlCommand cmd;
Expand Down Expand Up @@ -554,6 +565,7 @@ void VehicleCmdGate::onEmergencyState(EmergencyState::ConstSharedPtr msg)
emergency_state_heartbeat_received_time_ = std::make_shared<rclcpp::Time>(this->now());
}

// tmp
void VehicleCmdGate::onExternalEmergencyStopHeartbeat(
[[maybe_unused]] Heartbeat::ConstSharedPtr msg)
{
Expand Down Expand Up @@ -601,6 +613,7 @@ double VehicleCmdGate::getDt()
return dt;
}

// tmp
void VehicleCmdGate::onExternalEmergencyStopService(
const std::shared_ptr<rmw_request_id_t> request_header,
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⚠️ performance-unnecessary-value-param ⚠️
the const qualified parameter request_header is copied for each invocation; consider making it a reference

Suggested change
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<rmw_request_id_t>& request_header,

const std::shared_ptr<tier4_external_api_msgs::srv::SetEmergency::Request> request,
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⚠️ performance-unnecessary-value-param ⚠️
the const qualified parameter request is copied for each invocation; consider making it a reference

Suggested change
const std::shared_ptr<tier4_external_api_msgs::srv::SetEmergency::Request> request,
const std::shared_ptr<tier4_external_api_msgs::srv::SetEmergency::Request>& request,

Expand Down Expand Up @@ -655,6 +668,7 @@ bool VehicleCmdGate::onClearExternalEmergencyStopService(
return true;
}

// tmp
void VehicleCmdGate::checkExternalEmergencyStop(diagnostic_updater::DiagnosticStatusWrapper & stat)
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⚠️ readability-make-member-function-const ⚠️
method checkExternalEmergencyStop can be made const

Suggested change
void VehicleCmdGate::checkExternalEmergencyStop(diagnostic_updater::DiagnosticStatusWrapper & stat)
void VehicleCmdGate::checkExternalEmergencyStop(diagnostic_updater::DiagnosticStatusWrapper & stat) const

{
DiagnosticStatus status;
Expand Down