fox code format using pre-commit

ros-industrial · Aug 27, 2024 · c3cb00f · c3cb00f
1 parent eea1c28
commit c3cb00f
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/canopen_402_driver/include/canopen_402_driver/motor.hpp b/canopen_402_driver/include/canopen_402_driver/motor.hpp
@@ -174,7 +174,10 @@ class Motor402 : public MotorBase
     registerMode<CyclicSynchronousTorqueMode>(MotorBase::Cyclic_Synchronous_Torque, driver);
   }
 
-  double get_effort() const { return (double)this->driver->universal_get_value<int16_t>(0x6077, 0); }
+  double get_effort() const
+  {
+    return (double)this->driver->universal_get_value<int16_t>(0x6077, 0);
+  }
   double get_speed() const { return (double)this->driver->universal_get_value<int32_t>(0x606C, 0); }
   double get_position() const
   {

diff --git a/...en_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp b/...en_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver_impl.hpp
@@ -319,8 +319,10 @@ void NodeCanopen402Driver<rclcpp::Node>::configure(bool called_from_base)
     (int)ros2_canopen::State402::InternalState::Operation_Enable);
   RCLCPP_INFO(
     this->node_->get_logger(),
-    "scale_pos_to_dev_ %f\nscale_pos_from_dev_ %f\nscale_vel_to_dev_ %f\nscale_vel_from_dev_ %f\nscale_eff_from_dev_ %f\n",
-    scale_pos_to_dev_, scale_pos_from_dev_, scale_vel_to_dev_, scale_vel_from_dev_, scale_eff_from_dev_);
+    "scale_pos_to_dev_ %f\nscale_pos_from_dev_ %f\nscale_vel_to_dev_ %f\nscale_vel_from_dev_ "
+    "%f\nscale_eff_from_dev_ %f\n",
+    scale_pos_to_dev_, scale_pos_from_dev_, scale_vel_to_dev_, scale_vel_from_dev_,
+    scale_eff_from_dev_);
 }
 
 template <class NODETYPE>

diff --git a/canopen_ros2_control/include/canopen_ros2_control/cia402_data.hpp b/canopen_ros2_control/include/canopen_ros2_control/cia402_data.hpp
@@ -108,7 +108,7 @@ struct Cia402Data
     // actual speed
     state_interfaces.emplace_back(hardware_interface::StateInterface(
       joint_name, hardware_interface::HW_IF_VELOCITY, &actual_velocity));
-    
+
     // actual effort
     state_interfaces.emplace_back(hardware_interface::StateInterface(
       joint_name, hardware_interface::HW_IF_EFFORT, &actual_effort));

diff --git a/canopen_ros2_control/src/cia402_system.cpp b/canopen_ros2_control/src/cia402_system.cpp
@@ -138,8 +138,7 @@ std::vector<hardware_interface::StateInterface> Cia402System::export_state_inter
       &motor_data_[node_id].actual_speed));
     // actual effort
     state_interfaces.emplace_back(hardware_interface::StateInterface(
-      info_.joints[i].name, hardware_interface::HW_IF_EFFORT,
-      &motor_data_[node_id].actual_effort));
+      info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &motor_data_[node_id].actual_effort));
   }
 
   return state_interfaces;