From f5cf977823ce264cefe252d99ae9bd770901c40c Mon Sep 17 00:00:00 2001 From: pd2025 Date: Wed, 16 Sep 2026 00:17:32 +0000 Subject: [PATCH] automated style fixes --- src/rj_ui/include/rj_ui/processor.hpp | 9 +++--- .../rj_ui/ros2_temp/raw_vision_packet_sub.hpp | 1 - src/rj_ui/src/processor.cpp | 3 +- .../rj_vision_filter/vision_filter.hpp | 19 ------------ src/rj_vision_filter/src/vision_filter.cpp | 29 +++++-------------- 5 files changed, 12 insertions(+), 49 deletions(-) diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp index aa77d6d3450..1b886da5d8f 100644 --- a/src/rj_ui/include/rj_ui/processor.hpp +++ b/src/rj_ui/include/rj_ui/processor.hpp @@ -8,11 +8,10 @@ #include #include -#include -#include - #include #include +#include +#include #include #include @@ -155,10 +154,10 @@ class Processor { // ROS2 temporary modules using WorldStateMsg = rj_msgs::msg::WorldState; - + using AsyncWorldStateMsgQueue = rj_topic_utils::AsyncMessageQueue< WorldStateMsg, rj_topic_utils::MessagePolicy::kQueue, 1>; - + // replace this w a sub and callback // rclcpp::Subscription::SharedPtr world_state_sub_; // WorldStateMsg::UniquePtr world_state_; diff --git a/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp b/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp index 419042344af..67829df7b2d 100644 --- a/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp +++ b/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp @@ -34,6 +34,5 @@ class RawVisionPacketSub { using RawProtobufMsgQueue = rj_topic_utils::AsyncMessageQueue< RawProtobufMsg, rj_topic_utils::MessagePolicy::kQueue>; RawProtobufMsgQueue::UniquePtr queue_; - }; } // namespace ros2_temp \ No newline at end of file diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp index 1c12d8bf0e4..52c7532a885 100644 --- a/src/rj_ui/src/processor.cpp +++ b/src/rj_ui/src/processor.cpp @@ -33,8 +33,7 @@ Processor::Processor(bool sim, bool blue_team, const std::string& read_log_file) [this](WorldStateMsg::UniquePtr msg) { rj_convert::convert_from_ros(*msg, &context_.world_state); last_vision_time_ = rj_convert::convert_from_ros(msg->last_update_time); - } - ); + }); debug_draw_sub_ = std::make_unique(&context_, ros_executor_.get()); diff --git a/src/rj_vision_filter/include/rj_vision_filter/vision_filter.hpp b/src/rj_vision_filter/include/rj_vision_filter/vision_filter.hpp index fd1746bda2f..3b756a56936 100644 --- a/src/rj_vision_filter/include/rj_vision_filter/vision_filter.hpp +++ b/src/rj_vision_filter/include/rj_vision_filter/vision_filter.hpp @@ -1,15 +1,12 @@ #pragma once - #include #include #include #include - #include - #include #include #include @@ -18,15 +15,12 @@ #include #include - #include "rj_vision_filter/camera/camera_frame.hpp" #include "rj_vision_filter/camera/world.hpp" - namespace vision_filter { using TeamColorMsg = rj_msgs::msg::TeamColor; - /** * Filters the vision measurements into a smoother velocity/position estimate for both the ball and * robots. @@ -37,13 +31,11 @@ class VisionFilter : public rclcpp::Node { using RobotStateMsg = rj_msgs::msg::RobotState; using BallStateMsg = rj_msgs::msg::BallState; - /** * Initialize the vision filter and all callbacks. */ VisionFilter(const rclcpp::NodeOptions& options); - private: /** * @brief Creates a WorldStateMsg from the robot and ball Kalman filters. @@ -53,7 +45,6 @@ class VisionFilter : public rclcpp::Node { */ WorldStateMsg build_world_state_msg(bool us_blue) const; - /** * @brief Creates a BallStateMsg from the ball Kalman filter. * @return The BallStateMsg corresponding to the current VisionFilter @@ -61,7 +52,6 @@ class VisionFilter : public rclcpp::Node { */ BallStateMsg build_ball_state_msg() const; - /** * @brief Creates a vector of RobotStateMsgs from the robot Kalman filters. * @param blue_team Uses the blue team's robots if true. Otherwise uses the @@ -70,13 +60,11 @@ class VisionFilter : public rclcpp::Node { */ std::vector build_robot_state_msgs(bool blue_team) const; - /** * @brief Publishes the current state of the balls and robots. */ void publish_state(); - // TODO(1562): (It's horrible, but it's only temporary until VisionFilter // gets refactored). /** @@ -88,7 +76,6 @@ class VisionFilter : public rclcpp::Node { return defend_plus_x ? -M_PI_2 : M_PI_2; } - /** * @brief Returns the transform from the world to the team. * @return The transform from the world to the team frame. @@ -100,7 +87,6 @@ class VisionFilter : public rclcpp::Node { return world_to_team; } - /** * @brief State of the world, ie. robots and ball. */ @@ -108,26 +94,21 @@ class VisionFilter : public rclcpp::Node { config_client::ConfigClient config_client_; - rclcpp::Subscription::SharedPtr team_color_sub_; std::atomic us_blue_{true}; - /** * @brief Timer driving regular publication. */ rclcpp::TimerBase::SharedPtr publish_timer_; - rclcpp::Subscription::SharedPtr detection_frame_sub_; - /** * @brief Publisher for WorldStateMsg. */ rclcpp::Publisher::SharedPtr world_state_pub_; - ::params::LocalROS2ParamProvider param_provider_; }; } // namespace vision_filter diff --git a/src/rj_vision_filter/src/vision_filter.cpp b/src/rj_vision_filter/src/vision_filter.cpp index e76597b1c40..0a224c52b42 100644 --- a/src/rj_vision_filter/src/vision_filter.cpp +++ b/src/rj_vision_filter/src/vision_filter.cpp @@ -1,6 +1,5 @@ #include "rj_vision_filter/vision_filter.hpp" - #include #include #include @@ -9,13 +8,11 @@ #include #include - namespace vision_filter { DEFINE_FLOAT64(kVisionFilterParamModule, publish_hz, 60.0, "The rate in Hz at which VisionFilter publishes ball and robot " "observations.") - VisionFilter::VisionFilter(const rclcpp::NodeOptions& options) : rclcpp::Node{"vision_filter", options}, config_client_{this}, @@ -25,13 +22,12 @@ VisionFilter::VisionFilter(const rclcpp::NodeOptions& options) auto publish_callback = [this]() { publish_state(); }; publish_timer_ = create_wall_timer(predict_timer_period, publish_callback); - // Create a subscripter for TeamColorMsg - const auto team_color_callback = [this](TeamColorMsg::UniquePtr msg) {us_blue_.store(msg->is_blue); }; - team_color_sub_ = create_subscription( - referee::topics::kTeamColorTopic, rclcpp::QoS(1), - team_color_callback - ); + const auto team_color_callback = [this](TeamColorMsg::UniquePtr msg) { + us_blue_.store(msg->is_blue); + }; + team_color_sub_ = create_subscription(referee::topics::kTeamColorTopic, + rclcpp::QoS(1), team_color_callback); // Create a subscriber for the DetectionFrameMsg constexpr int kQueueSize = 10; @@ -40,7 +36,6 @@ VisionFilter::VisionFilter(const rclcpp::NodeOptions& options) return; } - const double current_team_angle = team_angle(); const rj_geometry::TransformMatrix current_world_to_team = world_to_team(); auto frame = CameraFrame(*msg, current_world_to_team, current_team_angle); @@ -49,12 +44,10 @@ VisionFilter::VisionFilter(const rclcpp::NodeOptions& options) detection_frame_sub_ = create_subscription( vision_receiver::topics::kDetectionFrameTopic, rclcpp::QoS(kQueueSize), callback); - // Create world state publisher world_state_pub_ = create_publisher(topics::kWorldStateTopic, 10); } - VisionFilter::WorldStateMsg VisionFilter::build_world_state_msg(bool us_blue) const { return rj_msgs::build() .last_update_time(rj_convert::convert_to_ros(world_.last_update_time())) @@ -63,11 +56,9 @@ VisionFilter::WorldStateMsg VisionFilter::build_world_state_msg(bool us_blue) co .ball(build_ball_state_msg()); } - VisionFilter::BallStateMsg VisionFilter::build_ball_state_msg() const { const WorldBall& wb = world_.get_world_ball(); - BallStateMsg msg{}; msg.stamp = rj_convert::convert_to_ros(wb.get_time()); msg.position = rj_convert::convert_to_ros(wb.get_pos()); @@ -76,39 +67,33 @@ VisionFilter::BallStateMsg VisionFilter::build_ball_state_msg() const { return msg; } - std::vector VisionFilter::build_robot_state_msgs( bool blue_team) const { const auto& robots = blue_team ? world_.get_robots_blue() : world_.get_robots_yellow(); - // Fill our robots std::vector robot_state_msgs(kNumShells); for (size_t i = 0; i < kNumShells; i++) { const WorldRobot& wr = robots.at(i); - RobotState robot_state; robot_state.visible = wr.get_is_valid(); - if (wr.get_is_valid()) { robot_state.pose = rj_geometry::Pose(wr.get_pos(), wr.get_theta()); robot_state.velocity = rj_geometry::Twist(wr.get_vel(), wr.get_omega()); robot_state.timestamp = wr.get_time(); } - robot_state_msgs.at(i) = rj_convert::convert_to_ros(robot_state); } return robot_state_msgs; } - void VisionFilter::publish_state() { - WorldStateMsg::UniquePtr msg = std::make_unique(build_world_state_msg(us_blue_.load())); + WorldStateMsg::UniquePtr msg = + std::make_unique(build_world_state_msg(us_blue_.load())); world_state_pub_->publish(std::move(msg)); } - } // namespace vision_filter