fix format

robocin · Oct 26, 2024 · fc68576 · fc68576
1 parent 4c901b4
commit fc68576
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Showing 11 changed files with 267 additions and 273 deletions.
diff --git a/behavior-ms/behavior-bruxo/.devcontainer/devcontainer.json b/behavior-ms/behavior-bruxo/.devcontainer/devcontainer.json
@@ -113,4 +113,4 @@
             }
         }
     }
-}
+}
diff --git a/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.cpp b/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.cpp
@@ -3,16 +3,13 @@
 #include "behavior/messaging/receiver/payload.h"
 #include "behavior/parameters/parameters.h"
 
-#include <protocols/behavior/motion.pb.h>
 #include <protocols/behavior/behavior_unification.pb.h>
-
+#include <protocols/behavior/motion.pb.h>
 #include <protocols/decision/decision.pb.h>
-
 #include <protocols/perception/detection.pb.h>
-
+#include <ranges>
 #include <robocin/memory/object_ptr.h>
 #include <robocin/output/log.h>
-#include <ranges>
 
 namespace behavior {
 
@@ -25,16 +22,15 @@ using ::robocin::object_ptr;
 
 namespace rc {
 
-
 using ::protocols::common::RobotId;
+using ::protocols::decision::Decision;
 using ::protocols::perception::Ball;
 using ::protocols::perception::Detection;
-using ::protocols::decision::Decision;
 
 using ::protocols::behavior::GoToPoint;
+using ::protocols::behavior::unification::Behavior;
 using ::protocols::behavior::unification::Motion;
 using ::protocols::behavior::unification::Output;
-using ::protocols::behavior::unification::Behavior;
 
 } // namespace rc
 
@@ -56,36 +52,32 @@ BehaviorProcessor::BehaviorProcessor(
 
 std::optional<rc::Behavior> BehaviorProcessor::process(std::span<const Payload> payloads) {
 
-  if(std::vector<rc::Decision> decision_messages = decisionfromPayloads(payloads);
-    !decision_messages.empty()) {
+  if (std::vector<rc::Decision> decision_messages = decisionfromPayloads(payloads);
+      !decision_messages.empty()) {
     last_decision_ = decision_messages.back();
   }
 
-  if(!last_decision_) {
+  if (!last_decision_) {
     return std::nullopt;
   }
 
   std::vector<rc::Detection> detection_messages = detectionFromPayloads(payloads);
-  if(detection_messages.empty()) {
+  if (detection_messages.empty()) {
     // a new package must be generated only when a new detection is received.
     return std::nullopt;
   }
   const rc::Detection last_detection = detection_messages.back();
-
 
-  // TODO: implement the logic to generate the behavior based on the last detection and the last decision
+  // TODO: implement the logic to generate the behavior based on the last detection and the last
+  // decision
   ///////////////////////////////////////////////////////////////////////////////////
-  
+
   BehaviorMessage behavior_message;
-  
+
   for (const auto& robot : last_detection.robots()) {
-    
+
     behavior_message.output.emplace_back(
-      OutputMessage{
-        RobotIdMessage{},
-        MotionMessage{},
-        PlanningMessage{}
-     });
+        OutputMessage{RobotIdMessage{}, MotionMessage{}, PlanningMessage{}});
   }
 
   ///////////////////////////////////////////////////////////////////////////////////

diff --git a/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.h b/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.h
@@ -2,10 +2,9 @@
 #define BEHAVIOR_PROCESSING_BEHAVIOR_PROCESSOR_H
 
 #include "behavior/messaging/receiver/payload.h"
-
 #include "behavior/processing/messages/behavior/behavior_message.h"
-#include "behavior/processing/messages/motion/motion_message.h"
 #include "behavior/processing/messages/common/robot_id/robot_id.h"
+#include "behavior/processing/messages/motion/motion_message.h"
 
 #include <protocols/behavior/behavior_unification.pb.h>
 #include <protocols/decision/decision.pb.h>

diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/behavior/behavior_message.cpp b/behavior-ms/behavior-bruxo/behavior/processing/messages/behavior/behavior_message.cpp
@@ -9,7 +9,6 @@ OutputMessage::OutputMessage(RobotIdMessage robot_id,
     motion{std::move(motion)},
     planning{std::move(planning)} {}
 
-BehaviorMessage::BehaviorMessage(std::vector<OutputMessage> output) :
-    output{std::move(output)} {}
+BehaviorMessage::BehaviorMessage(std::vector<OutputMessage> output) : output{std::move(output)} {}
 
-}    // namespace behavior
+} // namespace behavior
diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/behavior/behavior_message.h b/behavior-ms/behavior-bruxo/behavior/processing/messages/behavior/behavior_message.h
@@ -1,56 +1,56 @@
-#include "behavior/processing/messages/motion/motion_message.h"
 #include "behavior/processing/messages/common/robot_id/robot_id.h"
+#include "behavior/processing/messages/motion/motion_message.h"
 #include "behavior/processing/messages/planning/planning_message.h"
 
 #include <protocols/behavior/behavior_unification.pb.h>
-
 #include <robocin/output/log.h>
 #include <robocin/utility/iproto_convertible.h>
 
 namespace behavior {
 
 class OutputMessage : public robocin::IProtoConvertible<protocols::behavior::unification::Output> {
-  public:
-    OutputMessage(RobotIdMessage robot_id = RobotIdMessage{}, 
-                  MotionMessage motion = MotionMessage{},
-                  PlanningMessage planning = PlanningMessage{});
-
-    [[nodiscard]] protocols::behavior::unification::Output toProto() const override { 
-        protocols::behavior::unification::Output output;
-            output.mutable_robot_id()->CopyFrom(robot_id.toProto());
-            output.mutable_motion()->CopyFrom(motion.toProto());
-            output.mutable_planning()->CopyFrom(planning.toProto());
-        return output;
-    };
-
-    void fromProto(protocols::behavior::unification::Output output) override {
-        robot_id.fromProto(output.robot_id());
-        motion.fromProto(output.motion());
-        planning.fromProto(output.planning());
-    };
-
-    RobotIdMessage robot_id;
-    MotionMessage motion;
-    PlanningMessage planning;
+ public:
+  OutputMessage(RobotIdMessage robot_id = RobotIdMessage{},
+                MotionMessage motion = MotionMessage{},
+                PlanningMessage planning = PlanningMessage{});
+
+  [[nodiscard]] protocols::behavior::unification::Output toProto() const override {
+    protocols::behavior::unification::Output output;
+    output.mutable_robot_id()->CopyFrom(robot_id.toProto());
+    output.mutable_motion()->CopyFrom(motion.toProto());
+    output.mutable_planning()->CopyFrom(planning.toProto());
+    return output;
+  };
+
+  void fromProto(protocols::behavior::unification::Output output) override {
+    robot_id.fromProto(output.robot_id());
+    motion.fromProto(output.motion());
+    planning.fromProto(output.planning());
+  };
+
+  RobotIdMessage robot_id;
+  MotionMessage motion;
+  PlanningMessage planning;
 };
 
-class BehaviorMessage : public robocin::IProtoConvertible<protocols::behavior::unification::Behavior> {
-  public:
-    BehaviorMessage(std::vector<OutputMessage> output = std::vector<OutputMessage>{});
+class BehaviorMessage
+    : public robocin::IProtoConvertible<protocols::behavior::unification::Behavior> {
+ public:
+  BehaviorMessage(std::vector<OutputMessage> output = std::vector<OutputMessage>{});
 
-    [[nodiscard]] protocols::behavior::unification::Behavior toProto() const override {
-        protocols::behavior::unification::Behavior behavior;
-        for (const auto& output : output) {
-            behavior.add_output()->CopyFrom(output.toProto());
-        }
-        return behavior;
-    };
+  [[nodiscard]] protocols::behavior::unification::Behavior toProto() const override {
+    protocols::behavior::unification::Behavior behavior;
+    for (const auto& output : output) {
+      behavior.add_output()->CopyFrom(output.toProto());
+    }
+    return behavior;
+  };
 
-    void fromProto(protocols::behavior::unification::Behavior behavior) override {
-        // Implementação específica para converter de proto para BehaviorMessage
-    };
+  void fromProto(protocols::behavior::unification::Behavior behavior) override {
+    // Implementação específica para converter de proto para BehaviorMessage
+  };
 
-    std::vector<OutputMessage> output;
+  std::vector<OutputMessage> output;
 };
 
-}    // namespace behavior
+} // namespace behavior
diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.cpp b/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.cpp
@@ -6,4 +6,4 @@ RobotIdMessage::RobotIdMessage(std::optional<Color> color, std::optional<uint32_
     color{std::move(color)},
     number{std::move(number)} {}
 
-} // namespace behavior
+} // namespace behavior
diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.h b/behavior-ms/behavior-bruxo/behavior/processing/messages/common/robot_id/robot_id.h
@@ -1,39 +1,38 @@
 #ifndef BEHAVIOR_PROCESSING_MESSAGES_COMMON_ROBOT_ID_H
 #define BEHAVIOR_PROCESSING_MESSAGES_COMMON_ROBOT_ID_H
 
-#include <robocin/utility/iproto_convertible.h>
-
 #include <protocols/common/robot_id.pb.h>
+#include <robocin/utility/iproto_convertible.h>
 
 namespace behavior {
 
 class RobotIdMessage : public robocin::IProtoConvertible<protocols::common::RobotId> {
-    enum Color {
-        COLOR_UNSPECIFIED = 0,
-        COLOR_YELLOW = 1,
-        COLOR_BLUE = 2,
-    };
-
-  public:
-    explicit RobotIdMessage(std::optional<Color> color = std::nullopt,
-                            std::optional<uint32_t> number = 0);
-
-    [[nodiscard]] protocols::common::RobotId toProto() const override {
-        protocols::common::RobotId robot_id;
-        robot_id.set_color(static_cast<::protocols::common::RobotId_Color>(color.value_or(Color::COLOR_UNSPECIFIED)));
-        robot_id.set_number(number.value_or(0));
-
-        return robot_id;
-    };
-
-    void fromProto(protocols::common::RobotId robot_id) override {
-        color = static_cast<Color>(robot_id.color());
-        number = robot_id.number();
-    };
-
-    std::optional<Color> color;
-    std::optional<uint32_t> number;
-
+  enum Color {
+    COLOR_UNSPECIFIED = 0,
+    COLOR_YELLOW = 1,
+    COLOR_BLUE = 2,
+  };
+
+ public:
+  explicit RobotIdMessage(std::optional<Color> color = std::nullopt,
+                          std::optional<uint32_t> number = 0);
+
+  [[nodiscard]] protocols::common::RobotId toProto() const override {
+    protocols::common::RobotId robot_id;
+    robot_id.set_color(
+        static_cast<::protocols::common::RobotId_Color>(color.value_or(Color::COLOR_UNSPECIFIED)));
+    robot_id.set_number(number.value_or(0));
+
+    return robot_id;
+  };
+
+  void fromProto(protocols::common::RobotId robot_id) override {
+    color = static_cast<Color>(robot_id.color());
+    number = robot_id.number();
+  };
+
+  std::optional<Color> color;
+  std::optional<uint32_t> number;
 };
 
 } // namespace behavior

diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/motion/motion_message.cpp b/behavior-ms/behavior-bruxo/behavior/processing/messages/motion/motion_message.cpp
@@ -19,13 +19,14 @@ RotateInPointMessage::RotateInPointMessage() {}
 
 RotateOnSelfMessage::RotateOnSelfMessage() {}
 
-MotionMessage::MotionMessage(std::optional<GoToPointMessage> go_to_point,
-                             std::optional<GoToPointWithTrajectoryMessage> go_to_point_with_trajectory,
-                             std::optional<RotateInPointMessage> rotate_in_point,
-                             std::optional<RotateOnSelfMessage> rotate_on_self) :
+MotionMessage::MotionMessage(
+    std::optional<GoToPointMessage> go_to_point,
+    std::optional<GoToPointWithTrajectoryMessage> go_to_point_with_trajectory,
+    std::optional<RotateInPointMessage> rotate_in_point,
+    std::optional<RotateOnSelfMessage> rotate_on_self) :
     go_to_point{std::move(go_to_point)},
     go_to_point_with_trajectory{std::move(go_to_point_with_trajectory)},
     rotate_in_point{std::move(rotate_in_point)},
     rotate_on_self{std::move(rotate_on_self)} {}
 
-}    // namespace behavior
+} // namespace behavior