From ffdf261e324aaa91e75685b6c2f124ff4f459cc2 Mon Sep 17 00:00:00 2001
From: Chandima Fernando <wfernando1@bnl.gov>
Date: Wed, 14 Feb 2024 22:32:23 -0500
Subject: [PATCH] fix: lint errors

---
 src/pdf_beamtime/CMakeLists.txt                      |  5 +----
 .../include/pdf_beamtime/inner_state_machine.hpp     | 11 ++++++++---
 src/pdf_beamtime/include/pdf_beamtime/state_enum.hpp |  2 ++
 src/pdf_beamtime/src/inner_state_machine.cpp         |  2 ++
 src/pdf_beamtime/src/pdf_beamtime_server.cpp         | 12 +++++++-----
 5 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/src/pdf_beamtime/CMakeLists.txt b/src/pdf_beamtime/CMakeLists.txt
index cbbb2301..dc38652c 100644
--- a/src/pdf_beamtime/CMakeLists.txt
+++ b/src/pdf_beamtime/CMakeLists.txt
@@ -25,10 +25,7 @@ set(dependencies
 
 include_directories(include)  # This makes sure the libraries are visible
 
-add_executable(pdf_beamtime_server 
-  src/pdf_beamtime_server.cpp 
-  src/inner_state_machine.cpp )
-
+add_executable(pdf_beamtime_server src/pdf_beamtime_server.cpp src/inner_state_machine.cpp )
 ament_target_dependencies(pdf_beamtime_server ${dependencies})
 
 install(TARGETS
diff --git a/src/pdf_beamtime/include/pdf_beamtime/inner_state_machine.hpp b/src/pdf_beamtime/include/pdf_beamtime/inner_state_machine.hpp
index d2914e75..0c7978d1 100644
--- a/src/pdf_beamtime/include/pdf_beamtime/inner_state_machine.hpp
+++ b/src/pdf_beamtime/include/pdf_beamtime/inner_state_machine.hpp
@@ -1,13 +1,18 @@
+/*Copyright 2023 Brookhaven National Laboratory
+BSD 3 Clause License. See LICENSE.txt for details.*/
 #pragma once
 
-#include <rclcpp/node.hpp>
 #include <moveit/move_group_interface/move_group_interface.h>
-#include <pdf_beamtime/state_enum.hpp>
+
+#include <rclcpp/node.hpp>
 #include <future>
+#include <string>
+#include <map>
+#include <vector>
+#include <pdf_beamtime/state_enum.hpp>
 
 class InnerStateMachine
 {
-
 private:
   rclcpp::Node::SharedPtr node_;
   State external_state_enum_;
diff --git a/src/pdf_beamtime/include/pdf_beamtime/state_enum.hpp b/src/pdf_beamtime/include/pdf_beamtime/state_enum.hpp
index 3b423210..68b4d21d 100644
--- a/src/pdf_beamtime/include/pdf_beamtime/state_enum.hpp
+++ b/src/pdf_beamtime/include/pdf_beamtime/state_enum.hpp
@@ -1,3 +1,5 @@
+/*Copyright 2023 Brookhaven National Laboratory
+BSD 3 Clause License. See LICENSE.txt for details.*/
 #pragma once
 
 /// @brief States of the robot transitions
diff --git a/src/pdf_beamtime/src/inner_state_machine.cpp b/src/pdf_beamtime/src/inner_state_machine.cpp
index be89f637..77d7d87d 100644
--- a/src/pdf_beamtime/src/inner_state_machine.cpp
+++ b/src/pdf_beamtime/src/inner_state_machine.cpp
@@ -1,3 +1,5 @@
+/*Copyright 2023 Brookhaven National Laboratory
+BSD 3 Clause License. See LICENSE.txt for details.*/
 #include <pdf_beamtime/inner_state_machine.hpp>
 
 InnerStateMachine::InnerStateMachine(
diff --git a/src/pdf_beamtime/src/pdf_beamtime_server.cpp b/src/pdf_beamtime/src/pdf_beamtime_server.cpp
index 94575642..f46b63a7 100644
--- a/src/pdf_beamtime/src/pdf_beamtime_server.cpp
+++ b/src/pdf_beamtime/src/pdf_beamtime_server.cpp
@@ -304,7 +304,8 @@ moveit::core::MoveItErrorCode PdfBeamtimeServer::run_fsm(
   moveit::core::MoveItErrorCode motion_results = moveit::core::MoveItErrorCode::FAILURE;
   switch (current_state_) {
     case State::HOME:
-      // Moves the robot to pickup approach. If success: change state, increment progress, reset internel state
+      // Moves the robot to pickup approach.
+      // If success: change state, increment progress, reset internel state
       motion_results = inner_state_machine_->move_robot(
         move_group_interface_,
         goal->pickup_approach);
@@ -316,7 +317,8 @@ moveit::core::MoveItErrorCode PdfBeamtimeServer::run_fsm(
       break;
 
     case State::PICKUP_APPROACH:
-      // Moves the robot to pickup. If success: change state, increment progress, reset internel state
+      // Moves the robot to pickup.
+      // If success: change state, increment progress, reset internel state
       motion_results = inner_state_machine_->move_robot(
         move_group_interface_,
         goal->pickup);
@@ -329,7 +331,7 @@ moveit::core::MoveItErrorCode PdfBeamtimeServer::run_fsm(
 
     case State::PICKUP:
       // Pick up object by closing gripper. If success: move to grasp success with progress.
-      //if fails, move to grasp_failure
+      // if fails, move to grasp_failure
       if (this->gripper_present_) {
         motion_results = inner_state_machine_->close_gripper();
         if (motion_results == moveit::core::MoveItErrorCode::SUCCESS) {
@@ -438,7 +440,7 @@ moveit::core::MoveItErrorCode PdfBeamtimeServer::run_fsm(
       if (motion_results == moveit::core::MoveItErrorCode::SUCCESS) {
         set_current_state(State::PICKUP_APPROACH);
         inner_state_machine_->set_internal_state(Internal_State::RESTING);
-        progress_ = 1.0; // Reset the progress to 1 because this is a retry
+        progress_ = 1.0;  // Reset the progress to 1 because this is a retry
       }
       break;
 
@@ -482,7 +484,7 @@ void PdfBeamtimeServer::handle_stop()
 
 void PdfBeamtimeServer::execute_stop()
 {
-///@todo @ChandimaFernando This needs testing
+  // @todo @ChandimaFernando This needs testing
   switch (current_state_) {
     case State::GRASP_SUCCESS:
       // handle the decision to pick up something else after successfully grabing the sample