Fix more cpplint issues

BluEye-Robotics · Apr 30, 2024 · 326a59a · 326a59a
1 parent dd33244
commit 326a59a
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Showing 24 changed files with 211 additions and 225 deletions.
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
@@ -7,7 +7,3 @@ filter=-build/namespaces
 filter=-whitespace/braces
 filter=-build/include_subdir
 filter=-readability/todo
-
-
-# Should consider re-enabling
-filter=-whitespace/parens
diff --git a/include/oculus_driver/AsyncService.h b/include/oculus_driver/AsyncService.h
@@ -16,8 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *****************************************************************************/
 
-#ifndef _DEF_OCULUS_DRIVER_ASYNC_SERVICE_H_
-#define _DEF_OCULUS_DRIVER_ASYNC_SERVICE_H_
+#pragma once
 
 #include <iostream>
 #include <thread>
@@ -53,5 +52,3 @@ class AsyncService
 };
 
 }  // namespace oculus
-
-#endif //_DEF_OCULUS_DRIVER_ASYNC_SERVICE_H_
diff --git a/include/oculus_driver/Clock.h b/include/oculus_driver/Clock.h
@@ -16,8 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *****************************************************************************/
 
-#ifndef _DEF_OCULUS_DRIVER_CLOCK_H_
-#define _DEF_OCULUS_DRIVER_CLOCK_H_
+#pragma once
 
 #include <iostream>
 #include <chrono>
@@ -73,5 +72,3 @@ inline std::ostream& operator<<(std::ostream& os, const oculus::Clock& clock)
     os << clock.now() << "s";
     return os;
 }
-
-#endif //_DEF_OCULUS_DRIVER_CLOCK_H_
diff --git a/include/oculus_driver/OculusMessage.h b/include/oculus_driver/OculusMessage.h
@@ -16,8 +16,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *****************************************************************************/
 
-#ifndef _DEF_OCULUS_DRIVER_OCULUS_MESSAGE_H_
-#define _DEF_OCULUS_DRIVER_OCULUS_MESSAGE_H_
+#pragma once
 
 #include "oculus_driver/Oculus.h"
 #include "oculus_driver/utils.h"
@@ -104,7 +103,7 @@ class Message
     {
         OculusMessageHeader header;
         std::memcpy(&header, data, sizeof(OculusMessageHeader));
-        if(!header_valid(header) || size != header.payloadSize + sizeof(OculusMessageHeader)) { return nullptr; }
+        if (!header_valid(header) || size != header.payloadSize + sizeof(OculusMessageHeader)) { return nullptr; }
         auto res = Create();
         res->header_ = header;
         res->timestamp_ = stamp;
@@ -169,8 +168,8 @@ class PingWrapper
     PingWrapper(const Message::ConstPtr& msg)
         : msg_(msg)
     {
-        if(!msg_) { throw std::runtime_error("Trying to make a PingMessage out of empty data."); }
-        if(!msg_->is_ping_message()) { throw std::runtime_error("Trying to make a PingMessage out of non-ping data."); }
+        if (!msg_) { throw std::runtime_error("Trying to make a PingMessage out of empty data."); }
+        if (!msg_->is_ping_message()) { throw std::runtime_error("Trying to make a PingMessage out of non-ping data."); }
     }
 
   public:
@@ -235,7 +234,7 @@ class PingWrapper1 : public PingWrapper
     PingWrapper1(const Message::ConstPtr& msg)
         : PingWrapper(msg)
     {
-        if(msg->message_version() == 2)
+        if (msg->message_version() == 2)
         {
             throw std::runtime_error("Tried to initialize a PingWrapper1 with data from a PingWrapper2");
         }
@@ -295,7 +294,7 @@ class PingWrapper1 : public PingWrapper
 
     virtual uint8_t sample_size() const
     {
-        switch(this->metadata().dataSize)
+        switch (this->metadata().dataSize)
         {
         case ImageData8Bit:
             return 1;
@@ -308,11 +307,11 @@ class PingWrapper1 : public PingWrapper
         default:
             // invalid value in metadata.dataSize. Deducing from message size.
             auto lineStep = this->metadata().imageSize / this->metadata().nRanges;
-            if(lineStep * this->metadata().nRanges != this->metadata().imageSize) { return 0; }
-            if(this->has_gains()) lineStep -= 4;
+            if (lineStep * this->metadata().nRanges != this->metadata().imageSize) { return 0; }
+            if (this->has_gains()) lineStep -= 4;
             auto sampleSize = lineStep / this->metadata().nBeams;
             // Checking integrity
-            if(sampleSize * this->metadata().nBeams != lineStep) { return 0; }
+            if (sampleSize * this->metadata().nBeams != lineStep) { return 0; }
             return sampleSize;
         }
     }
@@ -388,7 +387,7 @@ class PingWrapper2 : public PingWrapper
     PingWrapper2(const Message::ConstPtr& msg)
         : PingWrapper(msg)
     {
-        if(msg->message_version() != 2)
+        if (msg->message_version() != 2)
         {
             throw std::runtime_error("Tried to initialize a PingWrapper2 with data from a PingWrapper1");
         }
@@ -449,7 +448,7 @@ class PingWrapper2 : public PingWrapper
 
     virtual uint8_t sample_size() const
     {
-        switch(this->metadata().dataSize)
+        switch (this->metadata().dataSize)
         {
         case ImageData8Bit:
             return 1;
@@ -462,11 +461,11 @@ class PingWrapper2 : public PingWrapper
         default:
             // invalid value in metadata.dataSize. Deducing from message size.
             auto lineStep = this->metadata().imageSize / this->metadata().nRanges;
-            if(lineStep * this->metadata().nRanges != this->metadata().imageSize) { return 0; }
-            if(this->has_gains()) lineStep -= 4;
+            if (lineStep * this->metadata().nRanges != this->metadata().imageSize) { return 0; }
+            if (this->has_gains()) lineStep -= 4;
             auto sampleSize = lineStep / this->metadata().nBeams;
             // Checking integrity
-            if(sampleSize * this->metadata().nBeams != lineStep) { return 0; }
+            if (sampleSize * this->metadata().nBeams != lineStep) { return 0; }
             return sampleSize;
         }
     }
@@ -543,8 +542,8 @@ class PingMessage
 
     static PingWrapper::Ptr make_ping_wrapper(const Message::ConstPtr& msg)
     {
-        if(!msg || !msg->is_ping_message()) { return nullptr; }
-        if(msg->message_version() == 2) { return PingWrapper2::Create(msg); }
+        if (!msg || !msg->is_ping_message()) { return nullptr; }
+        if (msg->message_version() == 2) { return PingWrapper2::Create(msg); }
         else { return PingWrapper1::Create(msg); }
     }
 
@@ -567,7 +566,7 @@ class PingMessage
     {
         OculusMessageHeader header;
         std::memcpy(&header, data, sizeof(OculusMessageHeader));
-        if(!is_ping_message(header) || size != header.payloadSize + sizeof(OculusMessageHeader)) { return nullptr; }
+        if (!is_ping_message(header) || size != header.payloadSize + sizeof(OculusMessageHeader)) { return nullptr; }
         return Create(Message::Create(size, data, stamp));
     }
 
@@ -708,5 +707,3 @@ class PingMessage
 };
 
 }  // namespace oculus
-
-#endif //_DEF_OCULUS_DRIVER_OCULUS_MESSAGE_H_
diff --git a/include/oculus_driver/helpers.h b/include/oculus_driver/helpers.h
@@ -14,7 +14,7 @@ inline void write_pgm(const std::string& filename,
                       const uint8_t* data)
 {
     std::ofstream f(filename, std::ios::out | std::ios::binary);
-    if(!f.is_open()) {
+    if (!f.is_open()) {
         std::ostringstream oss;
         oss << "Could not open file for writing : " << filename;
         throw std::runtime_error(oss.str());
@@ -33,15 +33,15 @@ inline void write_pgm(const std::string& filename,
 {
     float m = data[0];
     float M = data[0];
-    for(unsigned int i = 0; i < width*height; i++) {
+    for (unsigned int i = 0; i < width*height; i++) {
         m = std::min(m, data[i]);
         M = std::max(M, data[i]);
     }
 
     float a = 255.0 / (M - m);
     float b = -m * a;
     std::vector<uint8_t> imageData(width*height);
-    for(unsigned int i = 0; i < width*height; i++) {
+    for (unsigned int i = 0; i < width*height; i++) {
         imageData[i] = a*data[i] + b;
     }
     write_pgm(filename, width, height, imageData.data());
@@ -121,42 +121,42 @@ inline void ping_data_to_array(T* dst,
                                const OculusPingResultType& metadata,
                                const std::vector<uint8_t>& pingData)
 {
-    if(has_16bits_data(metadata)) {
+    if (has_16bits_data(metadata)) {
         auto data = (const uint16_t*)(pingData.data() + metadata.imageOffset);
-        if(has_gains(metadata)) {
+        if (has_gains(metadata)) {
             // gain is sent
-            for(unsigned int h = 0; h < metadata.nRanges; h++) {
+            for (unsigned int h = 0; h < metadata.nRanges; h++) {
                 float gain = 1.0f / sqrt((float)((const uint32_t*)data)[0]);
                 data += 2;
-                for(int w = 0; w < metadata.nBeams; w++) {
+                for (int w = 0; w < metadata.nBeams; w++) {
                     dst[metadata.nBeams*w + h] = gain * data[w];
                 }
                 data += metadata.nBeams;
             }
         }
         else {
-            //gain was not sent
-            for(unsigned int i = 0; i < metadata.nBeams*metadata.nRanges; i++) {
+            // gain was not sent
+            for (unsigned int i = 0; i < metadata.nBeams*metadata.nRanges; i++) {
                 dst[i] = data[i];
             }
         }
     }
     else {
         auto data = (const uint8_t*)(pingData.data() + metadata.imageOffset);
-        if(has_gains(metadata)) {
+        if (has_gains(metadata)) {
             // gain is sent
-            for(unsigned int h = 0; h < metadata.nRanges; h++) {
+            for (unsigned int h = 0; h < metadata.nRanges; h++) {
                 float gain = 1.0f / sqrt((float)((const uint32_t*)data)[0]);
                 data += 4;
-                for(int w = 0; w < metadata.nBeams; w++) {
+                for (int w = 0; w < metadata.nBeams; w++) {
                     dst[metadata.nBeams*w + h] = gain * data[w];
                 }
                 data += metadata.nBeams;
             }
         }
         else {
-            //gain was not sent
-            for(unsigned int i = 0; i < metadata.nBeams*metadata.nRanges; i++) {
+            // gain was not sent
+            for (unsigned int i = 0; i < metadata.nBeams*metadata.nRanges; i++) {
                 dst[i] = data[i];
             }
         }
@@ -165,10 +165,10 @@ inline void ping_data_to_array(T* dst,
 inline std::vector<float> get_ping_acoustic_data(const std::vector<uint8_t>& pingData)
 {
     auto header = *reinterpret_cast<const OculusMessageHeader*>(pingData.data());
-    if(header.msgId != MsgSimplePingResult) {
+    if (header.msgId != MsgSimplePingResult) {
         throw std::runtime_error("Not a ping result");
     }
-    if(header.msgVersion != 2) {
+    if (header.msgVersion != 2) {
         auto metadata = *reinterpret_cast<const OculusSimplePingResult*>(pingData.data());
         std::vector<float> dst(metadata.nBeams * metadata.nRanges);
         ping_data_to_array(dst.data(), metadata, pingData);
@@ -192,17 +192,17 @@ inline void get_ping_bearings(T* dst,
 {
     // copying bearing angles (
     auto bearingData = (const int16_t*)(pingData.data() + sizeof(OculusPingResultType));
-    for(unsigned int i = 0; i < metadata.nBeams; i++) {
+    for (unsigned int i = 0; i < metadata.nBeams; i++) {
         dst[i] = (0.01 * M_PI / 180.0) * bearingData[i];
     }
 }
 inline std::vector<float> get_ping_bearings(const std::vector<uint8_t>& pingData)
 {
     auto header = *reinterpret_cast<const OculusMessageHeader*>(pingData.data());
-    if(header.msgId != MsgSimplePingResult) {
+    if (header.msgId != MsgSimplePingResult) {
         throw std::runtime_error("Not a ping result");
     }
-    if(header.msgVersion != 2) {
+    if (header.msgVersion != 2) {
         auto metadata = *reinterpret_cast<const OculusSimplePingResult*>(pingData.data());
         std::vector<float> dst(metadata.nBeams);
         get_ping_bearings(dst.data(), metadata, pingData);
@@ -249,14 +249,14 @@ inline std::pair<unsigned int, unsigned int> image_from_ping_data(
     // Making a lookup table to rapidly get bearing index from a bearing angle.
     // This comes down to performing a nearest neighbour interpolation.
     std::vector<unsigned int> bearingLut(metadata.nBeams);
-    for(unsigned int b = 0; b < metadata.nBeams; b++) {
+    for (unsigned int b = 0; b < metadata.nBeams; b++) {
         float bearingAngle = ((bearings.back() - bearings.front())*b) / (metadata.nBeams - 1)
                            + bearings.front();
         unsigned int idx = 0;
         float minDiff = std::abs(bearings[0] - bearingAngle);
-        for(int i = 1; i <bearings.size(); i++) {
+        for (int i = 1; i <bearings.size(); i++) {
             float diff = std::abs(bearings[i] - bearingAngle);
-            if(diff < minDiff) {
+            if (diff < minDiff) {
                 minDiff = diff;
                 idx = i;
             }
@@ -269,14 +269,14 @@ inline std::pair<unsigned int, unsigned int> image_from_ping_data(
     // and y positive is right direction.
     // In the image coordinates, x points to the top and y points to the right.
     float imageResolution = get_range(metadata) / (height - 1);
-    for(unsigned int h = 0; h < height; h++) {
+    for (unsigned int h = 0; h < height; h++) {
         // inverting x dimension to have origin at the bottom a x up.
         float x = imageResolution * (height - 1 - h);
-        for(unsigned int w = 0; w < width; w++) {
+        for (unsigned int w = 0; w < width; w++) {
             float y = imageResolution * (w - 0.5f*width);
             float range   = sqrt(x*x + y*y);
             float bearing = std::atan2(y, x);
-            if(range < 0.0f || range > get_range(metadata) || abs(bearing) > 0.5f*aperture) {
+            if (range < 0.0f || range > get_range(metadata) || abs(bearing) > 0.5f*aperture) {
                 // we are outside of the sonar fan
                 imageData[width*h + w] = 0.0f;
             }

diff --git a/include/oculus_driver/rtac_helpers.h b/include/oculus_driver/rtac_helpers.h
@@ -25,28 +25,28 @@ inline void oculus_to_rtac(SonarPing2D<T,VectorT>& dst,
     // using intermediary std::vector in case VectorT is not directly
     // writable (such as rtac::cuda::DeviceVector)
     std::vector<float> bearings(metadata.nBeams);
-    for(unsigned int i = 0; i < bearings.size(); i++) {
+    for (unsigned int i = 0; i < bearings.size(); i++) {
         bearings[i] = (0.01 * M_PI / 180.0) * bearingData[i];
     }
     dst.set_bearings(bearings);
 
-    //copying ping data
+    // copying ping data
     std::vector<T> pingData(dst.size());
     const uint8_t* data = data.data() + metadata.imageOffset;
-    if(metadata.fireMessage.flags & 0x04) {
+    if (metadata.fireMessage.flags & 0x04) {
         // gain is sent
-        for(unsigned int h = 0; h < dst.range_count(); h++) {
+        for (unsigned int h = 0; h < dst.range_count(); h++) {
             float gain = 1.0f * sqrt((float)((const uint32_t*)data)[0]);
             data += 4;
-            for(int w = 0; w < dst.bearing_count; w++) {
+            for (int w = 0; w < dst.bearing_count; w++) {
                 pingData[dst.bearing_count()*w + h] = data[w];
             }
             data += dst.bearing_count();
         }
     }
     else {
-        //gain was not sent
-        for(int i = 0; i < pingData.size(); i++) {
+        // gain was not sent
+        for (int i = 0; i < pingData.size(); i++) {
             pingData[i] = data[i] / 255.0;
         }
     }