style(pre-commit): autofix

Author: pre-commit-ci[bot]

system/cgroup_setter/README.md

@@ -17,51 +17,58 @@ The PID is found by `pgrep -f`.
 
 ### Node Parameters
 
-| Name                        | Type   | Default Value                                       | Explanation                             | Reconfigurable |
-| --------------------------- | ------ | --------------------------------------------------- | --------------------------------------- | -------------- |
-| `cgroup_setting_config_path`| string | `$(find-pkg-share cgroup_setter)/config/cgroup.yaml`| yaml file path                          | |
+| Name                         | Type   | Default Value                                        | Explanation    | Reconfigurable |
+| ---------------------------- | ------ | ---------------------------------------------------- | -------------- | -------------- |
+| `cgroup_setting_config_path` | string | `$(find-pkg-share cgroup_setter)/config/cgroup.yaml` | yaml file path |                |
 
 ### YAML format for cgroup_setter
 
 format
+
 ```yaml
 base_path: "/sys/fs/cgroup"
 settings:
   - directory: "xxx/xxx"
-    search_word: 
+    search_word:
       - "xxxxx"
       - "xxxxx"
   - directory: "xxx/xxx"
-    search_word: 
+    search_word:
       - "xxxxx"
 ```
+
 The following is an example of joining the PID from running `pgrep -f`
 with the keyword `__node:=system_monitor_container` to a cgroup named `/sys/fs/cgroup/autoware/system_monitor`.
 
 example
+
 ```yaml
 base_path: "/sys/fs/cgroup"
 settings:
   - directory: "autoware/system_monitor"
-    search_word: 
+    search_word:
       - "__node:=system_monitor_container"
 ```
+
 #### Rules
 
 - The value of settings must be a sequence.
 
 example
+
 ```yaml
 # NG
 base_path: "/sys/fs/cgroup"
 settings:
   directory: "autoware/system_monitor" # - directory
-  search_word: 
-  - "__node:=system_monitor_container"
+  search_word:
+    - "__node:=system_monitor_container"
 ```
+
 - The value of search_word must be a sequence.
 
 example
+
 ```yaml
 # NG
 base_path: "/sys/fs/cgroup"
@@ -86,4 +93,3 @@ TBD.
 ```sh
 ros2 launch cgroup_setter cgroup_setter.launch.xml
 ```
-

system/cgroup_setter/config/cgroup.yaml

@@ -1,5 +1,5 @@
 base_path: "/sys/fs/cgroup"
 settings:
   - directory: "autoware/system_monitor"
-    search_word: 
-      - "__node:=system_monitor_container"
+    search_word:
+      - "__node:=system_monitor_container"

system/cgroup_setter/package.xml

@@ -12,10 +12,10 @@
 
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
-  <depend>yaml-cpp</depend>
   <depend>libboost-filesystem-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/cgroup_setter/src/cgroup_setter.cpp

@@ -18,47 +18,50 @@
  */
 
 #include "cgroup_setter.hpp"
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <cstring>
-#include <unistd.h>
+
 #include <boost/process.hpp>
+
+#include <unistd.h>
 #include <yaml-cpp/yaml.h>
 
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+
 namespace bp = boost::process;
 
 CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options)
-: Node("cgroup_setter_node", options),
-  updater_(this)
+: Node("cgroup_setter_node", options), updater_(this)
 {
   try {
     std::string yaml_path = this->declare_parameter<std::string>("cgroup_setting_config_path");
     YAML::Node config = YAML::LoadFile(yaml_path);
     if (config["base_path"]) {
-        base_path_ = config["base_path"].as<std::string>();
+      base_path_ = config["base_path"].as<std::string>();
     } else {
-        RCLCPP_ERROR(this->get_logger(), "base_path is not set in the config file.");
-        return;
+      RCLCPP_ERROR(this->get_logger(), "base_path is not set in the config file.");
+      return;
     }
 
     if (!config["settings"]) {
-        RCLCPP_ERROR(this->get_logger(), "settings is not set in the config file.");
-        return;
+      RCLCPP_ERROR(this->get_logger(), "settings is not set in the config file.");
+      return;
     }
-    
+
     for (auto setting : config["settings"]) {
-        if (!setting["directory"] || !setting["search_word"]) {
+      if (!setting["directory"] || !setting["search_word"]) {
         RCLCPP_ERROR(this->get_logger(), "directory or search_word is not set in the config file.");
         return;
-        }
+      }
 
-        for (auto word : setting["search_word"]) {
-        std::pair<std::string, std::string> tmp_pair = std::make_pair(setting["directory"].as<std::string>(), word.as<std::string>());
+      for (auto word : setting["search_word"]) {
+        std::pair<std::string, std::string> tmp_pair =
+          std::make_pair(setting["directory"].as<std::string>(), word.as<std::string>());
         cgroup_map_[tmp_pair] = false;
-        }
+      }
     }
-  } catch (const std::exception& e) {
+  } catch (const std::exception & e) {
     RCLCPP_ERROR(this->get_logger(), "Failed to load the config file.");
     return;
   }
@@ -73,58 +76,69 @@ CgroupSetter::CgroupSetter(const rclcpp::NodeOptions & options)
     this, this->get_clock(), 1s, std::bind(&CgroupSetter::checkProcessAndAddToCgroup, this));
 }
 
-void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat) {
-    bool allOK = true;
-    for (auto& entry : cgroup_map_) {
-        if (entry.second) {
-            stat.add(entry.first.first + " " + entry.first.second, "OK");
-        } else {
-            allOK = false;
-            stat.add(entry.first.first + " " + entry.first.second, "NG");
-        }
-    }
-    if (allOK) {
-        timer_->cancel();
-        stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup.");
+void CgroupSetter::checkCgroup(diagnostic_updater::DiagnosticStatusWrapper & stat)
+{
+  bool allOK = true;
+  for (auto & entry : cgroup_map_) {
+    if (entry.second) {
+      stat.add(entry.first.first + " " + entry.first.second, "OK");
     } else {
-        stat.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup.");
+      allOK = false;
+      stat.add(entry.first.first + " " + entry.first.second, "NG");
     }
+  }
+  if (allOK) {
+    timer_->cancel();
+    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All processes are added to cgroup.");
+  } else {
+    stat.summary(
+      diagnostic_msgs::msg::DiagnosticStatus::WARN, "Some processes are not added to cgroup.");
+  }
 }
 
-void CgroupSetter::checkProcessAndAddToCgroup() {
-    for (auto& entry : cgroup_map_) {
-        if (entry.second) {
-            continue;
-        }
-        std::string word = entry.first.second;
-        std::string result = executeCommand(word);
-        if (!result.empty()) {
-            std::istringstream iss(result);
-            std::string pid;
-            bool allAdded = true;
-            while (std::getline(iss, pid, '\n')) {
-                if (!pid.empty() && addToCgroup(entry.first.first, pid)) {
-                    if (checkPIDExists(base_path_ + "/" + entry.first.first + "/cgroup.procs", pid)) {
-                        RCLCPP_INFO(this->get_logger(), "Added all PIDs to cgroup. %s %s", entry.first.second.c_str(), pid.c_str());
-                    } else {
-                        allAdded = false;
-                        RCLCPP_ERROR(this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), entry.first.second.c_str(), result.c_str());
-                    }
-                } else {
-                    allAdded = false;
-                    RCLCPP_ERROR(this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(), entry.first.second.c_str(), result.c_str());
-                }
-            }
-            if (allAdded) {
-                entry.second = true;     
-            }
+void CgroupSetter::checkProcessAndAddToCgroup()
+{
+  for (auto & entry : cgroup_map_) {
+    if (entry.second) {
+      continue;
+    }
+    std::string word = entry.first.second;
+    std::string result = executeCommand(word);
+    if (!result.empty()) {
+      std::istringstream iss(result);
+      std::string pid;
+      bool allAdded = true;
+      while (std::getline(iss, pid, '\n')) {
+        if (!pid.empty() && addToCgroup(entry.first.first, pid)) {
+          if (checkPIDExists(base_path_ + "/" + entry.first.first + "/cgroup.procs", pid)) {
+            RCLCPP_INFO(
+              this->get_logger(), "Added all PIDs to cgroup. %s %s", entry.first.second.c_str(),
+              pid.c_str());
+          } else {
+            allAdded = false;
+            RCLCPP_ERROR(
+              this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(),
+              entry.first.second.c_str(), result.c_str());
+          }
         } else {
-            RCLCPP_ERROR(this->get_logger(), "Failed to get PID. %s %s", entry.first.second.c_str(), result.c_str());
+          allAdded = false;
+          RCLCPP_ERROR(
+            this->get_logger(), "Failed to add PID %s to cgroup. %s %s", pid.c_str(),
+            entry.first.second.c_str(), result.c_str());
         }
+      }
+      if (allAdded) {
+        entry.second = true;
+      }
+    } else {
+      RCLCPP_ERROR(
+        this->get_logger(), "Failed to get PID. %s %s", entry.first.second.c_str(), result.c_str());
     }
+  }
 }
 
-std::string CgroupSetter::executeCommand(const std::string& search_word) {
+std::string CgroupSetter::executeCommand(const std::string & search_word)
+{
   int out_fd[2];
   if (pipe2(out_fd, O_CLOEXEC) != 0) {
     RCLCPP_ERROR(this->get_logger(), "pipe2 error");
@@ -140,11 +154,11 @@ std::string CgroupSetter::executeCommand(const std::string& search_word) {
   }
   bp::pipe err_pipe{err_fd[0], err_fd[1]};
   bp::ipstream is_err{std::move(err_pipe)};
-  auto cmd=bp::search_path("pgrep");
+  auto cmd = bp::search_path("pgrep");
   std::vector<std::string> args;
   args.push_back("-f");
   args.push_back(search_word);
-  bp::child c(cmd, bp::args=args, bp::std_out > is_out, bp::std_err > is_err);
+  bp::child c(cmd, bp::args = args, bp::std_out > is_out, bp::std_err > is_err);
   c.wait();
   if (c.exit_code() != 0) {
     std::ostringstream os;
@@ -159,47 +173,50 @@ std::string CgroupSetter::executeCommand(const std::string& search_word) {
   }
 }
 
-bool CgroupSetter::checkPIDExists(const std::string& filePath, const std::string & pid) {
-    std::ifstream file(filePath);
-    if (!file.is_open()) {
-        RCLCPP_ERROR(this->get_logger(), "Failed to open %s", filePath.c_str());
-        return false;
-    }
+bool CgroupSetter::checkPIDExists(const std::string & filePath, const std::string & pid)
+{
+  std::ifstream file(filePath);
+  if (!file.is_open()) {
+    RCLCPP_ERROR(this->get_logger(), "Failed to open %s", filePath.c_str());
+    return false;
+  }
 
-    std::string line;
-    while (std::getline(file, line)) {
-        if (line == pid) {
-            return true;
-        }
+  std::string line;
+  while (std::getline(file, line)) {
+    if (line == pid) {
+      return true;
     }
-    return false;
+  }
+  return false;
 }
 
-bool CgroupSetter::addToCgroup(const std::string& cgroupPath, const std::string& pid) {
-    std::string cgroupProcFile = base_path_ + "/" + cgroupPath + "/cgroup.procs";
-    std::ofstream ofs(cgroupProcFile, std::ofstream::app);
-    if (!ofs) {
-        std::cerr << "Failed to open " << cgroupProcFile << std::endl;
-        ofs.close();
-        return false;
-    }
-    ofs << pid;
-    if (!ofs) {
-        std::cerr << "Failed to write to " << cgroupProcFile << std::endl;
-        ofs.close();
-        return false;
-    }
+bool CgroupSetter::addToCgroup(const std::string & cgroupPath, const std::string & pid)
+{
+  std::string cgroupProcFile = base_path_ + "/" + cgroupPath + "/cgroup.procs";
+  std::ofstream ofs(cgroupProcFile, std::ofstream::app);
+  if (!ofs) {
+    std::cerr << "Failed to open " << cgroupProcFile << std::endl;
+    ofs.close();
+    return false;
+  }
+  ofs << pid;
+  if (!ofs) {
+    std::cerr << "Failed to write to " << cgroupProcFile << std::endl;
     ofs.close();
-    return true;
+    return false;
+  }
+  ofs.close();
+  return true;
 }
 
-int main(int argc, char ** argv) {
-    rclcpp::init(argc, argv);
-    rclcpp::executors::SingleThreadedExecutor executor;
-    auto options = rclcpp::NodeOptions();
-    auto node = std::make_shared<CgroupSetter>(options);
-    executor.add_node(node);
-    executor.spin();
-    executor.remove_node(node);
-    rclcpp::shutdown();
-}
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  rclcpp::executors::SingleThreadedExecutor executor;
+  auto options = rclcpp::NodeOptions();
+  auto node = std::make_shared<CgroupSetter>(options);
+  executor.add_node(node);
+  executor.spin();
+  executor.remove_node(node);
+  rclcpp::shutdown();
+}