style(pre-commit): autofix

common/autoware_control_center/include/autoware_control_center/autoware_control_center.hpp

@@ -19,8 +19,8 @@
 #include "autoware_control_center/visibility_control.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
-#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
 #include "autoware_control_center_msgs/srv/autoware_node_deregister.hpp"
+#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
 
 namespace autoware_control_center
 {

common/autoware_control_center/package.xml

@@ -20,10 +20,10 @@
   <depend>rcutils</depend>
   <depend>tier4_autoware_utils</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>  
   <test_depend>rclcpp</test_depend>
 
   <export>

common/autoware_control_center/src/autoware_control_center.cpp

@@ -27,7 +27,7 @@ unique_identifier_msgs::msg::UUID createDefaultUUID()
   unique_identifier_msgs::msg::UUID default_uuid;
 
   // Use std::generate to fill the UUID with zeros
-  std::generate(default_uuid.uuid.begin(), default_uuid.uuid.end(), []() {return 0;});
+  std::generate(default_uuid.uuid.begin(), default_uuid.uuid.end(), []() { return 0; });
 
   return default_uuid;
 }

common/autoware_control_center/test/test_autoware_control_center.cpp

@@ -37,15 +37,15 @@ class AutowareControlCenterTest : public ::testing::Test
       std::make_shared<autoware_control_center::AutowareControlCenter>(rclcpp::NodeOptions());
   }
 
-  void TearDown() override {rclcpp::shutdown();}
+  void TearDown() override { rclcpp::shutdown(); }
   autoware_control_center::AutowareControlCenter::SharedPtr autoware_control_center_;
 };
 
 TEST_F(AutowareControlCenterTest, RegisterNode)
 {
   auto client = autoware_control_center_
-    ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
-    "/autoware_control_center/srv/autoware_node_register");
+                  ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
+                    "/autoware_control_center/srv/autoware_node_register");
   if (!client->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "Node register service not available after waiting";
   }
@@ -67,8 +67,8 @@ TEST_F(AutowareControlCenterTest, DeregisterNode)
 {
   std::string node_name = "test_node";
   auto client_reg = autoware_control_center_
-    ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
-    "/autoware_control_center/srv/autoware_node_register");
+                      ->create_client<autoware_control_center_msgs::srv::AutowareNodeRegister>(
+                        "/autoware_control_center/srv/autoware_node_register");
 
   if (!client_reg->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "Node register service not available after waiting";
@@ -88,8 +88,8 @@ TEST_F(AutowareControlCenterTest, DeregisterNode)
 
   // Deregister node
   auto client_dereg = autoware_control_center_
-    ->create_client<autoware_control_center_msgs::srv::AutowareNodeDeregister>(
-    "/autoware_control_center/srv/autoware_node_deregister");
+                        ->create_client<autoware_control_center_msgs::srv::AutowareNodeDeregister>(
+                          "/autoware_control_center/srv/autoware_node_deregister");
   if (!client_dereg->wait_for_service(20s)) {
     ASSERT_TRUE(false) << "Node deregister service not available after waiting";
   }

common/autoware_node/include/autoware_node/autoware_node.hpp

@@ -18,8 +18,8 @@
 #include "autoware_node/visibility_control.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
-#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
 #include "autoware_control_center_msgs/srv/autoware_control_center_deregister.hpp"
+#include "autoware_control_center_msgs/srv/autoware_node_register.hpp"
 
 #include <string>
 
@@ -37,7 +37,8 @@ class AutowareNode : public rclcpp_lifecycle::LifecycleNode
   rclcpp::CallbackGroup::SharedPtr callback_group_mut_ex_;
 
   rclcpp::Client<autoware_control_center_msgs::srv::AutowareNodeRegister>::SharedPtr cli_register_;
-  rclcpp::Service<autoware_control_center_msgs::srv::AutowareControlCenterDeregister>::SharedPtr srv_deregister_;
+  rclcpp::Service<autoware_control_center_msgs::srv::AutowareControlCenterDeregister>::SharedPtr
+    srv_deregister_;
   rclcpp::TimerBase::SharedPtr register_timer_;
   bool registered;
   unique_identifier_msgs::msg::UUID self_uuid;
@@ -47,9 +48,10 @@ class AutowareNode : public rclcpp_lifecycle::LifecycleNode
 private:
   void register_callback();
   void deregister(
-    const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Request::SharedPtr request,
-    const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Response::SharedPtr response
-  );
+    const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Request::SharedPtr
+      request,
+    const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Response::SharedPtr
+      response);
 };
 
 }  // namespace autoware_node

common/autoware_node/src/autoware_node.cpp

@@ -21,7 +21,6 @@
 
 #include <chrono>
 
-
 using namespace std::chrono_literals;
 
 namespace autoware_node
@@ -39,14 +38,15 @@ AutowareNode::AutowareNode(
     "/autoware_control_center/srv/autoware_node_register", rmw_qos_profile_default,
     callback_group_mut_ex_);
 
-  register_timer_ = this->create_wall_timer(
-    500ms, std::bind(&AutowareNode::register_callback, this));
+  register_timer_ =
+    this->create_wall_timer(500ms, std::bind(&AutowareNode::register_callback, this));
 
   using std::placeholders::_1;
   using std::placeholders::_2;
-  srv_deregister_ = create_service<autoware_control_center_msgs::srv::AutowareControlCenterDeregister>(
-    "~/srv/acc_deregister", std::bind(&AutowareNode::deregister, this, _1, _2), 
-    rmw_qos_profile_services_default, callback_group_mut_ex_);  
+  srv_deregister_ =
+    create_service<autoware_control_center_msgs::srv::AutowareControlCenterDeregister>(
+      "~/srv/acc_deregister", std::bind(&AutowareNode::deregister, this, _1, _2),
+      rmw_qos_profile_services_default, callback_group_mut_ex_);
 }
 
 void AutowareNode::register_callback()
@@ -70,46 +70,47 @@ void AutowareNode::register_callback()
   using ServiceResponseFuture =
     rclcpp::Client<autoware_control_center_msgs::srv::AutowareNodeRegister>::SharedFuture;
   auto response_received_callback = [this](ServiceResponseFuture future) {
-      auto response = future.get();
-      std::string str_uuid = tier4_autoware_utils::toHexString(response->uuid_node);
-      RCLCPP_INFO(get_logger(), "response: %d, %s", response->status.status, str_uuid.c_str());
-
-      if (response->status.status == 1) {
-        registered = true;
-        self_uuid = response->uuid_node;
-        RCLCPP_INFO(get_logger(), "Node was registered");
-        register_timer_->cancel();
-        RCLCPP_INFO(get_logger(), "Register timer was cancelled");
-      } else {
-        RCLCPP_ERROR(get_logger(), "Failed to register node");
-      }
-    };
+    auto response = future.get();
+    std::string str_uuid = tier4_autoware_utils::toHexString(response->uuid_node);
+    RCLCPP_INFO(get_logger(), "response: %d, %s", response->status.status, str_uuid.c_str());
+
+    if (response->status.status == 1) {
+      registered = true;
+      self_uuid = response->uuid_node;
+      RCLCPP_INFO(get_logger(), "Node was registered");
+      register_timer_->cancel();
+      RCLCPP_INFO(get_logger(), "Register timer was cancelled");
+    } else {
+      RCLCPP_ERROR(get_logger(), "Failed to register node");
+    }
+  };
 
   auto future_result = cli_register_->async_send_request(req, response_received_callback);
 
   RCLCPP_INFO(get_logger(), "Sent request");
 }
 
 void AutowareNode::deregister(
-  const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Request::SharedPtr request,
-  const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Response::SharedPtr response)
+  const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Request::SharedPtr
+    request,
+  const autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Response::SharedPtr
+    response)
 {
   RCLCPP_DEBUG(get_logger(), "Deregister callback");
   std::string str_uuid = tier4_autoware_utils::toHexString(request->uuid_acc);
   RCLCPP_INFO(get_logger(), "Request from %s", str_uuid.c_str());
   response->name_node = self_name;
-  
+
   if (!registered) {
     RCLCPP_WARN(get_logger(), "Node wasn't registered");
-    response->status.status = 
-      autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Response::_status_type::FAILURE;
+    response->status.status = autoware_control_center_msgs::srv::AutowareControlCenterDeregister::
+      Response::_status_type::FAILURE;
   } else {
     registered = false;
-    response->status.status =
-      autoware_control_center_msgs::srv::AutowareControlCenterDeregister::Response::_status_type::SUCCESS;
+    response->status.status = autoware_control_center_msgs::srv::AutowareControlCenterDeregister::
+      Response::_status_type::SUCCESS;
     this->register_timer_->reset();
   }
-
 }
 
 }  // namespace autoware_node