Reformat the code with uncrustify (#158)

* Reformat using ament_uncrustify * Add ament_cmake_uncrustify test * Fix ament_uncrustify errors on humble
RobotWebTools · Oct 3, 2024 · 140ff53 · 140ff53
1 parent ff6a8e6
commit 140ff53
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Showing 22 changed files with 598 additions and 532 deletions.
diff --git a/include/web_video_server/h264_streamer.hpp b/include/web_video_server/h264_streamer.hpp
@@ -12,9 +12,12 @@ namespace web_video_server
 class H264Streamer : public LibavStreamer
 {
 public:
-  H264Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr node);
+  H264Streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
   ~H264Streamer();
+
 protected:
   virtual void initializeEncoder();
   std::string preset_;
@@ -24,12 +27,12 @@ class H264StreamerType : public LibavStreamerType
 {
 public:
   H264StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
-                                                           async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr node);
+  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
 };
 
 }
 
 #endif
-
diff --git a/include/web_video_server/image_streamer.hpp b/include/web_video_server/image_streamer.hpp
@@ -15,9 +15,10 @@ namespace web_video_server
 class ImageStreamer
 {
 public:
-  ImageStreamer(const async_web_server_cpp::HttpRequest &request,
-		async_web_server_cpp::HttpConnectionPtr connection,
-		rclcpp::Node::SharedPtr node);
+  ImageStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
 
   virtual void start() = 0;
   virtual ~ImageStreamer();
@@ -26,7 +27,6 @@ class ImageStreamer
   {
     return inactive_;
   }
-  ;
 
   /**
    * Restreams the last received image frame if older than max_age.
@@ -37,7 +37,7 @@ class ImageStreamer
   {
     return topic_;
   }
-  ;
+
 protected:
   async_web_server_cpp::HttpConnectionPtr connection_;
   async_web_server_cpp::HttpRequest request_;
@@ -51,14 +51,16 @@ class ImageStreamer
 class ImageTransportImageStreamer : public ImageStreamer
 {
 public:
-  ImageTransportImageStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-			      rclcpp::Node::SharedPtr node);
+  ImageTransportImageStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
   virtual ~ImageTransportImageStreamer();
 
   virtual void start();
 
 protected:
-  virtual void sendImage(const cv::Mat &, const rclcpp::Time &time) = 0;
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time) = 0;
   virtual void restreamFrame(double max_age);
   virtual void initialize(const cv::Mat &);
 
@@ -77,17 +79,18 @@ class ImageTransportImageStreamer : public ImageStreamer
   image_transport::ImageTransport it_;
   bool initialized_;
 
-  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &msg);
+  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
 };
 
 class ImageStreamerType
 {
 public:
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
-                                                           async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr node) = 0;
+  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node) = 0;
 
-  virtual std::string create_viewer(const async_web_server_cpp::HttpRequest &request) = 0;
+  virtual std::string create_viewer(const async_web_server_cpp::HttpRequest & request) = 0;
 };
 
 }

diff --git a/include/web_video_server/jpeg_streamers.hpp b/include/web_video_server/jpeg_streamers.hpp
@@ -13,11 +13,14 @@ namespace web_video_server
 class MjpegStreamer : public ImageTransportImageStreamer
 {
 public:
-  MjpegStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr node);
+  MjpegStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
   ~MjpegStreamer();
+
 protected:
-  virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
 
 private:
   MultipartStream stream_;
@@ -27,20 +30,23 @@ class MjpegStreamer : public ImageTransportImageStreamer
 class MjpegStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
-                                                   async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr node);
-  std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
+  boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
+  std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
 };
 
 class JpegSnapshotStreamer : public ImageTransportImageStreamer
 {
 public:
-  JpegSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
-                       async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
+  JpegSnapshotStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
   ~JpegSnapshotStreamer();
+
 protected:
-  virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
 
 private:
   int quality_;

diff --git a/include/web_video_server/libav_streamer.hpp b/include/web_video_server/libav_streamer.hpp
@@ -24,26 +24,28 @@ namespace web_video_server
 class LibavStreamer : public ImageTransportImageStreamer
 {
 public:
-  LibavStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-                rclcpp::Node::SharedPtr node, const std::string &format_name, const std::string &codec_name,
-                const std::string &content_type);
+  LibavStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node, const std::string & format_name, const std::string & codec_name,
+    const std::string & content_type);
 
   ~LibavStreamer();
 
 protected:
   virtual void initializeEncoder();
-  virtual void sendImage(const cv::Mat&, const rclcpp::Time& time);
-  virtual void initialize(const cv::Mat&);
-  AVFormatContext* format_context_;
-  const AVCodec* codec_;
-  AVCodecContext* codec_context_;
-  AVStream* video_stream_;
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
+  virtual void initialize(const cv::Mat &);
+  AVFormatContext * format_context_;
+  const AVCodec * codec_;
+  AVCodecContext * codec_context_;
+  AVStream * video_stream_;
 
-  AVDictionary* opt_;   // container format options
+  AVDictionary * opt_;   // container format options
 
 private:
-  AVFrame* frame_;
-  struct SwsContext* sws_context_;
+  AVFrame * frame_;
+  struct SwsContext * sws_context_;
   rclcpp::Time first_image_timestamp_;
   boost::mutex encode_mutex_;
 
@@ -55,19 +57,22 @@ class LibavStreamer : public ImageTransportImageStreamer
   int qmax_;
   int gop_;
 
-  uint8_t* io_buffer_;  // custom IO buffer
+  uint8_t * io_buffer_;  // custom IO buffer
 };
 
 class LibavStreamerType : public ImageStreamerType
 {
 public:
-  LibavStreamerType(const std::string &format_name, const std::string &codec_name, const std::string &content_type);
+  LibavStreamerType(
+    const std::string & format_name, const std::string & codec_name,
+    const std::string & content_type);
 
-  boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
-                                                   async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr node);
+  boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
 
-  std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
+  std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
 
 private:
   const std::string format_name_;

diff --git a/include/web_video_server/multipart_stream.hpp b/include/web_video_server/multipart_stream.hpp
@@ -9,24 +9,30 @@
 namespace web_video_server
 {
 
-struct PendingFooter {
+struct PendingFooter
+{
   rclcpp::Time timestamp;
   std::weak_ptr<std::string> contents;
 };
 
-class MultipartStream {
+class MultipartStream
+{
 public:
-  MultipartStream(std::function<rclcpp::Time()> get_now,
-                  async_web_server_cpp::HttpConnectionPtr& connection,
-                  const std::string& boundry="boundarydonotcross",
-                  std::size_t max_queue_size=1);
+  MultipartStream(
+    std::function<rclcpp::Time()> get_now,
+    async_web_server_cpp::HttpConnectionPtr & connection,
+    const std::string & boundry = "boundarydonotcross",
+    std::size_t max_queue_size = 1);
 
   void sendInitialHeader();
-  void sendPartHeader(const rclcpp::Time &time, const std::string& type, size_t payload_size);
-  void sendPartFooter(const rclcpp::Time &time);
-  void sendPartAndClear(const rclcpp::Time &time, const std::string& type, std::vector<unsigned char> &data);
-  void sendPart(const rclcpp::Time &time, const std::string& type, const boost::asio::const_buffer &buffer,
-		async_web_server_cpp::HttpConnection::ResourcePtr resource);
+  void sendPartHeader(const rclcpp::Time & time, const std::string & type, size_t payload_size);
+  void sendPartFooter(const rclcpp::Time & time);
+  void sendPartAndClear(
+    const rclcpp::Time & time, const std::string & type,
+    std::vector<unsigned char> & data);
+  void sendPart(
+    const rclcpp::Time & time, const std::string & type, const boost::asio::const_buffer & buffer,
+    async_web_server_cpp::HttpConnection::ResourcePtr resource);
 
 private:
   bool isBusy();

diff --git a/include/web_video_server/png_streamers.hpp b/include/web_video_server/png_streamers.hpp
@@ -13,11 +13,14 @@ namespace web_video_server
 class PngStreamer : public ImageTransportImageStreamer
 {
 public:
-  PngStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr node);
+  PngStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
   ~PngStreamer();
+
 protected:
-  virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
 
 private:
   MultipartStream stream_;
@@ -27,20 +30,23 @@ class PngStreamer : public ImageTransportImageStreamer
 class PngStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
-                                                   async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr node);
-  std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
+  boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
+  std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
 };
 
 class PngSnapshotStreamer : public ImageTransportImageStreamer
 {
 public:
-  PngSnapshotStreamer(const async_web_server_cpp::HttpRequest &request,
-                      async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
+  PngSnapshotStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node);
   ~PngSnapshotStreamer();
+
 protected:
-  virtual void sendImage(const cv::Mat &, const rclcpp::Time &time);
+  virtual void sendImage(const cv::Mat &, const rclcpp::Time & time);
 
 private:
   int quality_;

diff --git a/include/web_video_server/ros_compressed_streamer.hpp b/include/web_video_server/ros_compressed_streamer.hpp
@@ -13,14 +13,18 @@ namespace web_video_server
 class RosCompressedStreamer : public ImageStreamer
 {
 public:
-  RosCompressedStreamer(const async_web_server_cpp::HttpRequest &request, async_web_server_cpp::HttpConnectionPtr connection,
-			rclcpp::Node::SharedPtr node);
+  RosCompressedStreamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
   ~RosCompressedStreamer();
   virtual void start();
   virtual void restreamFrame(double max_age);
 
 protected:
-  virtual void sendImage(const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg, const rclcpp::Time &time);
+  virtual void sendImage(
+    const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg,
+    const rclcpp::Time & time);
 
 private:
   void imageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg);
@@ -35,10 +39,11 @@ class RosCompressedStreamer : public ImageStreamer
 class RosCompressedStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest &request,
-                                                   async_web_server_cpp::HttpConnectionPtr connection,
-                                                   rclcpp::Node::SharedPtr node);
-  std::string create_viewer(const async_web_server_cpp::HttpRequest &request);
+  boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
+  std::string create_viewer(const async_web_server_cpp::HttpRequest & request);
 };
 
 }

diff --git a/include/web_video_server/vp8_streamer.hpp b/include/web_video_server/vp8_streamer.hpp
@@ -48,11 +48,15 @@ namespace web_video_server
 class Vp8Streamer : public LibavStreamer
 {
 public:
-  Vp8Streamer(const async_web_server_cpp::HttpRequest& request, async_web_server_cpp::HttpConnectionPtr connection,
-              rclcpp::Node::SharedPtr node);
+  Vp8Streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
   ~Vp8Streamer();
+
 protected:
   virtual void initializeEncoder();
+
 private:
   std::string quality_;
 };
@@ -61,12 +65,12 @@ class Vp8StreamerType : public LibavStreamerType
 {
 public:
   Vp8StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(const async_web_server_cpp::HttpRequest& request,
-                                                           async_web_server_cpp::HttpConnectionPtr connection,
-                                                           rclcpp::Node::SharedPtr node);
+  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+    const async_web_server_cpp::HttpRequest & request,
+    async_web_server_cpp::HttpConnectionPtr connection,
+    rclcpp::Node::SharedPtr node);
 };
 
 }
 
 #endif
-