From fc68576cf4876731fd62c50d112a4d4b9b95bf00 Mon Sep 17 00:00:00 2001 From: ersaraujo Date: Sat, 26 Oct 2024 15:18:18 -0300 Subject: [PATCH] fix format --- .../.devcontainer/devcontainer.json | 2 +- .../processing/behavior_processor.cpp | 36 +- .../behavior/processing/behavior_processor.h | 3 +- .../messages/behavior/behavior_message.cpp | 5 +- .../messages/behavior/behavior_message.h | 78 ++--- .../messages/common/robot_id/robot_id.cpp | 2 +- .../messages/common/robot_id/robot_id.h | 55 ++- .../messages/motion/motion_message.cpp | 11 +- .../messages/motion/motion_message.h | 323 +++++++++--------- .../messages/planning/planning_message.cpp | 2 +- .../messages/planning/planning_message.h | 23 +- 11 files changed, 267 insertions(+), 273 deletions(-) diff --git a/behavior-ms/behavior-bruxo/.devcontainer/devcontainer.json b/behavior-ms/behavior-bruxo/.devcontainer/devcontainer.json index 7db9046d..0ff704c2 100644 --- a/behavior-ms/behavior-bruxo/.devcontainer/devcontainer.json +++ b/behavior-ms/behavior-bruxo/.devcontainer/devcontainer.json @@ -113,4 +113,4 @@ } } } -} \ No newline at end of file +} diff --git a/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.cpp b/behavior-ms/behavior-bruxo/behavior/processing/behavior_processor.cpp index b126332b..1d400824 100644 --- 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 #include - +#include #include - #include - +#include #include #include -#include 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 BehaviorProcessor::process(std::span payloads) { - if(std::vector decision_messages = decisionfromPayloads(payloads); - !decision_messages.empty()) { + if (std::vector decision_messages = decisionfromPayloads(payloads); + !decision_messages.empty()) { last_decision_ = decision_messages.back(); } - if(!last_decision_) { + if (!last_decision_) { return std::nullopt; } std::vector 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 index 1711028c..51962174 100644 --- 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 #include 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 index df1fa1b7..60040610 100644 --- 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 output) : - output{std::move(output)} {} +BehaviorMessage::BehaviorMessage(std::vector output) : output{std::move(output)} {} -} // namespace behavior \ No newline at end of file +} // 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 index 412007b3..bc7b0b03 100644 --- 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 - #include #include namespace behavior { class OutputMessage : public robocin::IProtoConvertible { - 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 { - public: - BehaviorMessage(std::vector output = std::vector{}); +class BehaviorMessage + : public robocin::IProtoConvertible { + public: + BehaviorMessage(std::vector output = std::vector{}); - [[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 output; + std::vector output; }; -} // namespace behavior \ No newline at end of file +} // 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 index 90a65aea..7f5d07b4 100644 --- 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, std::optional - #include +#include namespace behavior { class RobotIdMessage : public robocin::IProtoConvertible { - enum Color { - COLOR_UNSPECIFIED = 0, - COLOR_YELLOW = 1, - COLOR_BLUE = 2, - }; - - public: - explicit RobotIdMessage(std::optional color = std::nullopt, - std::optional 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(robot_id.color()); - number = robot_id.number(); - }; - - std::optional color; - std::optional number; - + enum Color { + COLOR_UNSPECIFIED = 0, + COLOR_YELLOW = 1, + COLOR_BLUE = 2, + }; + + public: + explicit RobotIdMessage(std::optional color = std::nullopt, + std::optional 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(robot_id.color()); + number = robot_id.number(); + }; + + std::optional color; + std::optional 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 index b40a7857..12278cab 100644 --- 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 go_to_point, - std::optional go_to_point_with_trajectory, - std::optional rotate_in_point, - std::optional rotate_on_self) : +MotionMessage::MotionMessage( + std::optional go_to_point, + std::optional go_to_point_with_trajectory, + std::optional rotate_in_point, + std::optional 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 \ No newline at end of file +} // namespace behavior diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/motion/motion_message.h b/behavior-ms/behavior-bruxo/behavior/processing/messages/motion/motion_message.h index 4f464619..5c51556c 100644 --- a/behavior-ms/behavior-bruxo/behavior/processing/messages/motion/motion_message.h +++ b/behavior-ms/behavior-bruxo/behavior/processing/messages/motion/motion_message.h @@ -1,188 +1,193 @@ #ifndef BEHAVIOR_PROCESSING_MESSAGES_MOTION_MOTION_MESSAGE_H #define BEHAVIOR_PROCESSING_MESSAGES_MOTION_MOTION_MESSAGE_H -#include -#include - -#include #include +#include +#include +#include namespace behavior { class GoToPointMessage : public robocin::IProtoConvertible { - enum MovingProfile { - // Move safely profile - SafeInStopSpeed = 0, - - // Specific movement profile - BalancedInApproachBallSpeed = 1, - BalancedInCarryBallSpeed = 2, - BalancedInCarryBallLowSpeed = 3, - - // Goto point direct profile - DirectApproachBallSpeed = 4, - DirectSafeKickBallSpeed = 5, - DirectBalancedKickBallSpeed = 6, - DirectKickBallwithEnemyClose = 7, - gotoBallWithEnemy = 8, - PushBallInPenalty = 9, - TOTOZINHO = 10, - - // Default movement profile - BalancedInSlowSpeed = 11, - BalancedInMedianSpeed = 12, - BalancedInDefaultSpeed = 13, - BalancedInHighSpeed = 14, - - // Goalkepper profile - GoalkeeperInTopSpeed = 15, - - // Penalty push ball - PenaltyPushBall = 16, - }; - - enum PrecisionToTarget { - HIGH = 0, - NORMAL = 1, - }; - - public: - explicit GoToPointMessage(std::optional> target = std::nullopt, - std::optional target_angle = std::nullopt, - std::optional moving_profile = std::nullopt, - std::optional precision_to_target = std::nullopt, - std::optional sync_rotate_with_linear_movement = std::nullopt); - - [[nodiscard]] protocols::behavior::GoToPoint toProto() const override { - protocols::behavior::GoToPoint go_to_point; - - if (target.has_value()) { - go_to_point.mutable_target()->set_x(target->x); - go_to_point.mutable_target()->set_y(target->y); - } - if (target_angle.has_value()) { - go_to_point.set_target_angle(target_angle.value()); - } - if (moving_profile.has_value()) { - go_to_point.set_moving_profile(static_cast(moving_profile.value_or(MovingProfile::SafeInStopSpeed))); - } - if (precision_to_target.has_value()) { - go_to_point.set_precision_to_target(static_cast(precision_to_target.value_or(PrecisionToTarget::NORMAL))); - } - if (sync_rotate_with_linear_movement.has_value()) { - go_to_point.set_sync_rotate_with_linear_movement(sync_rotate_with_linear_movement.value()); - } - - return go_to_point; - }; - - void fromProto(protocols::behavior::GoToPoint go_to_point) override { - target = robocin::Point2D{go_to_point.target().x(), go_to_point.target().y()}; - target_angle = go_to_point.target_angle(); - moving_profile = static_cast(go_to_point.moving_profile()); - precision_to_target = static_cast(go_to_point.precision_to_target()); - sync_rotate_with_linear_movement = go_to_point.sync_rotate_with_linear_movement(); - }; - - std::optional> target; - std::optional target_angle; - std::optional moving_profile; - std::optional precision_to_target; - std::optional sync_rotate_with_linear_movement; + enum MovingProfile { + // Move safely profile + SafeInStopSpeed = 0, + + // Specific movement profile + BalancedInApproachBallSpeed = 1, + BalancedInCarryBallSpeed = 2, + BalancedInCarryBallLowSpeed = 3, + + // Goto point direct profile + DirectApproachBallSpeed = 4, + DirectSafeKickBallSpeed = 5, + DirectBalancedKickBallSpeed = 6, + DirectKickBallwithEnemyClose = 7, + gotoBallWithEnemy = 8, + PushBallInPenalty = 9, + TOTOZINHO = 10, + + // Default movement profile + BalancedInSlowSpeed = 11, + BalancedInMedianSpeed = 12, + BalancedInDefaultSpeed = 13, + BalancedInHighSpeed = 14, + + // Goalkepper profile + GoalkeeperInTopSpeed = 15, + + // Penalty push ball + PenaltyPushBall = 16, + }; + + enum PrecisionToTarget { + HIGH = 0, + NORMAL = 1, + }; + + public: + explicit GoToPointMessage(std::optional> target = std::nullopt, + std::optional target_angle = std::nullopt, + std::optional moving_profile = std::nullopt, + std::optional precision_to_target = std::nullopt, + std::optional sync_rotate_with_linear_movement = std::nullopt); + + [[nodiscard]] protocols::behavior::GoToPoint toProto() const override { + protocols::behavior::GoToPoint go_to_point; + + if (target.has_value()) { + go_to_point.mutable_target()->set_x(target->x); + go_to_point.mutable_target()->set_y(target->y); + } + if (target_angle.has_value()) { + go_to_point.set_target_angle(target_angle.value()); + } + if (moving_profile.has_value()) { + go_to_point.set_moving_profile(static_cast( + moving_profile.value_or(MovingProfile::SafeInStopSpeed))); + } + if (precision_to_target.has_value()) { + go_to_point.set_precision_to_target(static_cast( + precision_to_target.value_or(PrecisionToTarget::NORMAL))); + } + if (sync_rotate_with_linear_movement.has_value()) { + go_to_point.set_sync_rotate_with_linear_movement(sync_rotate_with_linear_movement.value()); + } + + return go_to_point; + }; + + void fromProto(protocols::behavior::GoToPoint go_to_point) override { + target = robocin::Point2D{go_to_point.target().x(), go_to_point.target().y()}; + target_angle = go_to_point.target_angle(); + moving_profile = static_cast(go_to_point.moving_profile()); + precision_to_target = static_cast(go_to_point.precision_to_target()); + sync_rotate_with_linear_movement = go_to_point.sync_rotate_with_linear_movement(); + }; + + std::optional> target; + std::optional target_angle; + std::optional moving_profile; + std::optional precision_to_target; + std::optional sync_rotate_with_linear_movement; }; -class GoToPointWithTrajectoryMessage : public robocin::IProtoConvertible { - public: - GoToPointWithTrajectoryMessage(); +class GoToPointWithTrajectoryMessage + : public robocin::IProtoConvertible { + public: + GoToPointWithTrajectoryMessage(); - [[nodiscard]] protocols::behavior::GoToPointWithTrajectory toProto() const override { - protocols::behavior::GoToPointWithTrajectory go_to_point_with_trajectory; - return go_to_point_with_trajectory; - }; + [[nodiscard]] protocols::behavior::GoToPointWithTrajectory toProto() const override { + protocols::behavior::GoToPointWithTrajectory go_to_point_with_trajectory; + return go_to_point_with_trajectory; + }; - void fromProto(protocols::behavior::GoToPointWithTrajectory go_to_point_with_trajectory) override { - // Implementação específica para converter de proto para GoToPointWithTrajectoryMessage - }; + void + fromProto(protocols::behavior::GoToPointWithTrajectory go_to_point_with_trajectory) override { + // Implementação específica para converter de proto para GoToPointWithTrajectoryMessage + }; }; class RotateInPointMessage : public robocin::IProtoConvertible { - public: - RotateInPointMessage(); + public: + RotateInPointMessage(); - [[nodiscard]] protocols::behavior::RotateInPoint toProto() const override { - protocols::behavior::RotateInPoint rotate_in_point; - return rotate_in_point; - }; + [[nodiscard]] protocols::behavior::RotateInPoint toProto() const override { + protocols::behavior::RotateInPoint rotate_in_point; + return rotate_in_point; + }; - void fromProto(protocols::behavior::RotateInPoint rotate_in_point) override { - // Implementação específica para converter de proto para RotateInPointMessage - }; + void fromProto(protocols::behavior::RotateInPoint rotate_in_point) override { + // Implementação específica para converter de proto para RotateInPointMessage + }; }; class RotateOnSelfMessage : public robocin::IProtoConvertible { - public: - RotateOnSelfMessage(); + public: + RotateOnSelfMessage(); - [[nodiscard]] protocols::behavior::RotateOnSelf toProto() const override { - protocols::behavior::RotateOnSelf rotate_on_self; - return rotate_on_self; - }; + [[nodiscard]] protocols::behavior::RotateOnSelf toProto() const override { + protocols::behavior::RotateOnSelf rotate_on_self; + return rotate_on_self; + }; - void fromProto(protocols::behavior::RotateOnSelf rotate_on_self) override { - // Implementação específica para converter de proto para RotateOnSelfMessage - }; + void fromProto(protocols::behavior::RotateOnSelf rotate_on_self) override { + // Implementação específica para converter de proto para RotateOnSelfMessage + }; }; class MotionMessage : public robocin::IProtoConvertible { - public: - MotionMessage(std::optional go_to_point = std::nullopt, - std::optional go_to_point_with_trajectory = std::nullopt, - std::optional rotate_in_point = std::nullopt, - std::optional rotate_on_self = std::nullopt); - - [[nodiscard]] protocols::behavior::unification::Motion toProto() const override { - protocols::behavior::unification::Motion motion; - - if (go_to_point.has_value()) { - motion.mutable_go_to_point()->CopyFrom(go_to_point->toProto()); - } - if (go_to_point_with_trajectory.has_value()) { - motion.mutable_go_to_point_with_trajectory()->CopyFrom(go_to_point_with_trajectory->toProto()); - } - if (rotate_in_point.has_value()) { - motion.mutable_rotate_in_point()->CopyFrom(rotate_in_point->toProto()); - } - if (rotate_on_self.has_value()) { - motion.mutable_rotate_on_self()->CopyFrom(rotate_on_self->toProto()); - } - - return motion; - }; - - void fromProto(protocols::behavior::unification::Motion motion) override { - if (motion.has_go_to_point()) { - go_to_point = GoToPointMessage{}; - go_to_point->fromProto(motion.go_to_point()); - } - if (motion.has_go_to_point_with_trajectory()) { - go_to_point_with_trajectory = GoToPointWithTrajectoryMessage{}; - go_to_point_with_trajectory->fromProto(motion.go_to_point_with_trajectory()); - } - if (motion.has_rotate_in_point()) { - rotate_in_point = RotateInPointMessage{}; - rotate_in_point->fromProto(motion.rotate_in_point()); - } - if (motion.has_rotate_on_self()) { - rotate_on_self = RotateOnSelfMessage{}; - rotate_on_self->fromProto(motion.rotate_on_self()); - } - }; - - std::optional go_to_point; - std::optional go_to_point_with_trajectory; - std::optional rotate_in_point; - std::optional rotate_on_self; + public: + MotionMessage(std::optional go_to_point = std::nullopt, + std::optional go_to_point_with_trajectory + = std::nullopt, + std::optional rotate_in_point = std::nullopt, + std::optional rotate_on_self = std::nullopt); + + [[nodiscard]] protocols::behavior::unification::Motion toProto() const override { + protocols::behavior::unification::Motion motion; + + if (go_to_point.has_value()) { + motion.mutable_go_to_point()->CopyFrom(go_to_point->toProto()); + } + if (go_to_point_with_trajectory.has_value()) { + motion.mutable_go_to_point_with_trajectory()->CopyFrom( + go_to_point_with_trajectory->toProto()); + } + if (rotate_in_point.has_value()) { + motion.mutable_rotate_in_point()->CopyFrom(rotate_in_point->toProto()); + } + if (rotate_on_self.has_value()) { + motion.mutable_rotate_on_self()->CopyFrom(rotate_on_self->toProto()); + } + + return motion; + }; + + void fromProto(protocols::behavior::unification::Motion motion) override { + if (motion.has_go_to_point()) { + go_to_point = GoToPointMessage{}; + go_to_point->fromProto(motion.go_to_point()); + } + if (motion.has_go_to_point_with_trajectory()) { + go_to_point_with_trajectory = GoToPointWithTrajectoryMessage{}; + go_to_point_with_trajectory->fromProto(motion.go_to_point_with_trajectory()); + } + if (motion.has_rotate_in_point()) { + rotate_in_point = RotateInPointMessage{}; + rotate_in_point->fromProto(motion.rotate_in_point()); + } + if (motion.has_rotate_on_self()) { + rotate_on_self = RotateOnSelfMessage{}; + rotate_on_self->fromProto(motion.rotate_on_self()); + } + }; + + std::optional go_to_point; + std::optional go_to_point_with_trajectory; + std::optional rotate_in_point; + std::optional rotate_on_self; }; } // namespace behavior diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.cpp b/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.cpp index 15ded450..ef757b2d 100644 --- a/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.cpp +++ b/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.cpp @@ -1 +1 @@ -#include "behavior/processing/messages/planning/planning_message.h" \ No newline at end of file +#include "behavior/processing/messages/planning/planning_message.h" diff --git a/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.h b/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.h index a8e827fe..6ec93e0c 100644 --- a/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.h +++ b/behavior-ms/behavior-bruxo/behavior/processing/messages/planning/planning_message.h @@ -1,25 +1,24 @@ #ifndef BEHAVIOR_PROCESSING_MESSAGES_PLANNING_PLANNING_MESSAGE_H #define BEHAVIOR_PROCESSING_MESSAGES_PLANNING_PLANNING_MESSAGE_H -#include - #include +#include namespace behavior { class PlanningMessage : public robocin::IProtoConvertible { - public: - PlanningMessage() {}; + public: + PlanningMessage() {}; - [[nodiscard]] protocols::behavior::Planning toProto() const override { - protocols::behavior::Planning planning; - return planning; - }; + [[nodiscard]] protocols::behavior::Planning toProto() const override { + protocols::behavior::Planning planning; + return planning; + }; - void fromProto(protocols::behavior::Planning planning) override { - // Implementação específica para converter de proto para RobotIdMessage - }; + void fromProto(protocols::behavior::Planning planning) override { + // Implementação específica para converter de proto para RobotIdMessage + }; }; } // namespace behavior -#endif // BEHAVIOR_PROCESSING_MESSAGES_PLANNING_PLANNING_MESSAGE_H \ No newline at end of file +#endif // BEHAVIOR_PROCESSING_MESSAGES_PLANNING_PLANNING_MESSAGE_H