style(pre-commit): autofix

Author: pre-commit-ci[bot]

system/emergency_handler/README.md

@@ -9,14 +9,14 @@ Emergency Handler is a node to select proper MRM from system failure state conta
 Emergency Handler has MRM operators inside.
 Currently, there are two types of MRM:
 
- - Emergency Stop Operator: publishes `/system/emergency/control_cmd` to make an emergency stop
- - Comfortable Stop Operator: publishes `/planning/scenario_planning/max_velocity_candidates` to make a comfortable stop
+- Emergency Stop Operator: publishes `/system/emergency/control_cmd` to make an emergency stop
+- Comfortable Stop Operator: publishes `/planning/scenario_planning/max_velocity_candidates` to make a comfortable stop
 
 These operators have `operate()`, `cancel()` and `onTimer` public functions.
 
- - `operate()`: executes the MRM operation
- - `cancel()`: cancels the MRM operation
- - `onTimer()`: executes each operator's timer callback
+- `operate()`: executes the MRM operation
+- `cancel()`: cancels the MRM operation
+- `onTimer()`: executes each operator's timer callback
 
 ### State Transitions
 
@@ -26,12 +26,12 @@ These operators have `operate()`, `cancel()` and `onTimer` public functions.
 
 ### Input
 
-| Name                                      | Type                                                       | Description                                                                   |
-| ----------------------------------------- | ---------------------------------------------------------- | ----------------------------------------------------------------------------- |
-| `/system/emergency/hazard_status`         | `autoware_auto_system_msgs::msg::HazardStatusStamped`      | Used to select proper MRM from system failure state contained in HazardStatus |
-| `/localization/kinematic_state`           | `nav_msgs::msg::Odometry`                                  | Used to decide whether vehicle is stopped or not                              |
-| `/vehicle/status/control_mode`            | `autoware_auto_vehicle_msgs::msg::ControlModeReport`       | Used to check vehicle mode: autonomous or manual                              |
-| `/control/command/control_cmd`            | `autoware_auto_control_msgs::msg::AckermannControlCommand` | Used to calculate emergency control commands in emergency_stop_operator       |
+| Name                              | Type                                                       | Description                                                                   |
+| --------------------------------- | ---------------------------------------------------------- | ----------------------------------------------------------------------------- |
+| `/system/emergency/hazard_status` | `autoware_auto_system_msgs::msg::HazardStatusStamped`      | Used to select proper MRM from system failure state contained in HazardStatus |
+| `/localization/kinematic_state`   | `nav_msgs::msg::Odometry`                                  | Used to decide whether vehicle is stopped or not                              |
+| `/vehicle/status/control_mode`    | `autoware_auto_vehicle_msgs::msg::ControlModeReport`       | Used to check vehicle mode: autonomous or manual                              |
+| `/control/command/control_cmd`    | `autoware_auto_control_msgs::msg::AckermannControlCommand` | Used to calculate emergency control commands in emergency_stop_operator       |
 
 ### Output
 

system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp

@@ -37,8 +37,8 @@
 #include <nav_msgs/msg/odometry.hpp>
 
 // Operators
-#include "operators/emergency_stop.hpp"
 #include "operators/comfortable_stop.hpp"
+#include "operators/emergency_stop.hpp"
 
 namespace emergency_handler
 {
@@ -134,6 +134,6 @@ class EmergencyHandler : public rclcpp::Node
   bool isEmergency();
 };
 
-} // namespace emergency_handler
+}  // namespace emergency_handler
 
 #endif  // EMERGENCY_HANDLER__EMERGENCY_HANDLER_CORE_HPP_

system/emergency_handler/include/operators/comfortable_stop.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMFORTABLE_STOP_HPP_
-#define COMFORTABLE_STOP_HPP_
+#ifndef OPERATORS__COMFORTABLE_STOP_HPP_
+#define OPERATORS__COMFORTABLE_STOP_HPP_
+
+#include <rclcpp/rclcpp.hpp>
 
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
 
-#include <rclcpp/rclcpp.hpp>
-
 namespace emergency_handler
 {
 
@@ -57,8 +57,8 @@ class ComfortableStopOperator
   rclcpp::Node * node_;
 };
 
-} // namespace comfortable_stop_operator
+}  // namespace comfortable_stop_operator
 
-} // namespace emergency_handler
+}  // namespace emergency_handler
 
-#endif // COMFORTABLE_STOP_HPP_
+#endif  // OPERATORS__COMFORTABLE_STOP_HPP_

system/emergency_handler/include/operators/emergency_stop.hpp

@@ -12,13 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EMERGENCY_STOP_HPP_
-#define EMERGENCY_STOP_HPP_
-
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
+#ifndef OPERATORS__EMERGENCY_STOP_HPP_
+#define OPERATORS__EMERGENCY_STOP_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 
 namespace emergency_handler
 {
@@ -61,8 +60,8 @@ class EmergencyStopOperator
   rclcpp::Node * node_;
 };
 
-} // namespace emergency_stop_operator
+}  // namespace emergency_stop_operator
 
-} // namespace emergency_handler
+}  // namespace emergency_handler
 
-#endif // EMERGENCY_STOP_HPP_
+#endif  // OPERATORS__EMERGENCY_STOP_HPP_

system/emergency_handler/schema/emergency_handler.schema.json

@@ -51,10 +51,7 @@
               "default": -1.5
             }
           },
-          "required": [
-            "target_acceleration",
-            "target_jerk"
-          ]
+          "required": ["target_acceleration", "target_jerk"]
         },
         "comfortable_stop": {
           "type": "object",
@@ -75,11 +72,7 @@
               "default": -0.3
             }
           },
-          "required": [
-            "min_acceleration",
-            "max_jerk",
-            "min_jerk"
-          ]
+          "required": ["min_acceleration", "max_jerk", "min_jerk"]
         }
       },
       "required": [

system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp

@@ -61,7 +61,8 @@ EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
 
   // Opertors
   emergency_stop_operator_ = std::make_unique<emergency_stop_operator::EmergencyStopOperator>(this);
-  comfortable_stop_operator_ = std::make_unique<comfortable_stop_operator::ComfortableStopOperator>(this);
+  comfortable_stop_operator_ =
+    std::make_unique<comfortable_stop_operator::ComfortableStopOperator>(this);
 
   // Timer
   const auto update_period_ns = rclcpp::Rate(param_.update_rate).period();
@@ -400,4 +401,4 @@ bool EmergencyHandler::isStopped()
   return false;
 }
 
-} // namespace emergency_handler
+}  // namespace emergency_handler

system/emergency_handler/src/operators/comfortable_stop.cpp

@@ -35,22 +35,23 @@ ComfortableStopOperator::ComfortableStopOperator(rclcpp::Node * node) : node_(no
       "~/output/velocity_limit/clear", rclcpp::QoS{1}.transient_local());
 }
 
-void ComfortableStopOperator::onTimer() {
+void ComfortableStopOperator::onTimer()
+{
   // do nothing
 }
 
 bool ComfortableStopOperator::operate()
 {
   publishVelocityLimit();
-  
+
   // Currently, ComfortableStopOperator does not return false
   return true;
 }
 
 bool ComfortableStopOperator::cancel()
 {
   publishVelocityLimitClearCommand();
-  
+
   // Currently, ComfortableStopOperator does not return false
   return true;
 }
@@ -79,6 +80,6 @@ void ComfortableStopOperator::publishVelocityLimitClearCommand()
   pub_velocity_limit_clear_command_->publish(velocity_limit_clear_command);
 }
 
-} // namespace comfortable_stop_operator
+}  // namespace comfortable_stop_operator
 
-} // namespace emergency_handler
+}  // namespace emergency_handler

system/emergency_handler/src/operators/emergency_stop.cpp

@@ -23,7 +23,8 @@ namespace emergency_stop_operator
 EmergencyStopOperator::EmergencyStopOperator(rclcpp::Node * node) : node_(node)
 {
   // Parameter
-  params_.target_acceleration = node_->declare_parameter<double>("emergency_stop.target_acceleration");
+  params_.target_acceleration =
+    node_->declare_parameter<double>("emergency_stop.target_acceleration");
   params_.target_jerk = node_->declare_parameter<double>("emergency_stop.target_jerk");
 
   // Subscriber
@@ -45,14 +46,15 @@ void EmergencyStopOperator::onControlCommand(AckermannControlCommand::ConstShare
   is_prev_control_cmd_subscribed_ = true;
 }
 
-void EmergencyStopOperator::onTimer() {
+void EmergencyStopOperator::onTimer()
+{
   pub_control_cmd_->publish(calcNextControlCmd());
 }
 
 bool EmergencyStopOperator::operate()
 {
   pub_control_cmd_->publish(calcNextControlCmd());
-  
+
   // Currently, EmergencyStopOperator does not return false
   return true;
 }
@@ -92,7 +94,8 @@ AckermannControlCommand EmergencyStopOperator::calcNextControlCmd()
     const auto dt = (now - prev_control_cmd_.stamp).seconds();
     control_cmd.longitudinal.stamp = now;
     control_cmd.longitudinal.speed = static_cast<float>(std::max(
-      prev_control_cmd_.longitudinal.speed + prev_control_cmd_.longitudinal.acceleration * dt, 0.0));
+      prev_control_cmd_.longitudinal.speed + prev_control_cmd_.longitudinal.acceleration * dt,
+      0.0));
     control_cmd.longitudinal.acceleration = static_cast<float>(std::max(
       prev_control_cmd_.longitudinal.acceleration + params_.target_jerk * dt,
       params_.target_acceleration));
@@ -104,10 +107,10 @@ AckermannControlCommand EmergencyStopOperator::calcNextControlCmd()
 
     // lateral: keep previous lateral command
   }
-  
+
   return control_cmd;
 }
 
-} // namespace emergency_stop_operator
+}  // namespace emergency_stop_operator
 
-} // namespace emergency_handler
+}  // namespace emergency_handler