Fix Code Style On test-mode

soccer/src/soccer/strategy/agent/position/overriding_positions.hpp

@@ -3,26 +3,26 @@
 #include <string>
 #include <vector>
 
-namespace Strategy
-{
-    /*
-        OverridingPositions refers to the positions that can be manually set in the UI.
-        Normally, all robots are set to Auto. If you want to add a new position, add a new value
-        to this enum before LENGTH, add a string to the overriding_position_labels vector in main_window.hpp,
-        and add a case to the check_for_position_override method in RobotFactoryPosition.
-    */
-    enum OverridingPositions {
-        AUTO,
-        OFFENSE,
-        DEFENSE,
-        FREE_KICKER,
-        PENALTY_PLAYER,
-        PENALTY_NON_KICKER,
-        SOLO_OFFENSE,
-        SMART_IDLE,
-        ZONER,
-        IDLE,
-        LENGTH, //Do not remove
-    };
+namespace Strategy {
+/*
+    OverridingPositions refers to the positions that can be manually set in the UI.
+    Normally, all robots are set to Auto. If you want to add a new position, add a new value
+    to this enum before LENGTH, add a string to the overriding_position_labels vector in
+   main_window.hpp, and add a case to the check_for_position_override method in
+   RobotFactoryPosition.
+*/
+enum OverridingPositions {
+    AUTO,
+    OFFENSE,
+    DEFENSE,
+    FREE_KICKER,
+    PENALTY_PLAYER,
+    PENALTY_NON_KICKER,
+    SOLO_OFFENSE,
+    SMART_IDLE,
+    ZONER,
+    IDLE,
+    LENGTH,  // Do not remove
+};
 
-} // namespace Strategy
+}  // namespace Strategy

soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp

@@ -16,11 +16,11 @@ RobotFactoryPosition::RobotFactoryPosition(int r_id) : Position(r_id, "RobotFact
         current_position_ = std::make_unique<Defense>(robot_id_);
     }
 
-    std::string node_name {"robot_factory_position_"};
+    std::string node_name{"robot_factory_position_"};
     _node = std::make_shared<rclcpp::Node>(node_name.append(std::to_string(robot_id_)));
     test_play_sub_ = _node->create_subscription<rj_msgs::msg::OverridePosition>(
-        "override_position_for_robot", 1, [this](const rj_msgs::msg::OverridePosition::SharedPtr msg){test_play_callback(msg);}
-    );
+        "override_position_for_robot", 1,
+        [this](const rj_msgs::msg::OverridePosition::SharedPtr msg) { test_play_callback(msg); });
     _executor.add_node(_node);
     _executor_thread = std::thread([this]() { _executor.spin(); });
 }
@@ -127,10 +127,10 @@ void RobotFactoryPosition::handle_ready() {
 }
 
 void RobotFactoryPosition::update_position() {
-    //if (test_play_position_ == Strategy::OverridingPositions::OFFENSE) {
-      //  SPDLOG_INFO("OFFENSE SELECTED");
-        //set_current_position<Offense>();
-        //return;
+    // if (test_play_position_ == Strategy::OverridingPositions::OFFENSE) {
+    //  SPDLOG_INFO("OFFENSE SELECTED");
+    // set_current_position<Offense>();
+    // return;
     //}
     bool manual_position_set = check_for_position_override();
     if (manual_position_set) return;
@@ -354,18 +354,20 @@ std::string RobotFactoryPosition::get_current_state() {
     return current_position_->get_current_state();
 }
 
-void RobotFactoryPosition::test_play_callback(const rj_msgs::msg::OverridePosition::SharedPtr message) {
-    if (message->robot_id == this->robot_id_ && message->overriding_position < Strategy::OverridingPositions::LENGTH) {
-        test_play_position_ = static_cast<Strategy::OverridingPositions>(message->overriding_position);
+void RobotFactoryPosition::test_play_callback(
+    const rj_msgs::msg::OverridePosition::SharedPtr message) {
+    if (message->robot_id == this->robot_id_ &&
+        message->overriding_position < Strategy::OverridingPositions::LENGTH) {
+        test_play_position_ =
+            static_cast<Strategy::OverridingPositions>(message->overriding_position);
     }
 }
 
 /**
  * Checks test_play_position_, which automatically updates when an override is set.
  * If it is anything but auto, set the current position to that position and return true.
-*/
+ */
 bool RobotFactoryPosition::check_for_position_override() {
-
     switch (test_play_position_) {
         case Strategy::OverridingPositions::OFFENSE: {
             set_current_position<Offense>();
@@ -398,7 +400,7 @@ bool RobotFactoryPosition::check_for_position_override() {
         case Strategy::OverridingPositions::ZONER: {
             set_current_position<Zoner>();
             return true;
-        } 
+        }
         case Strategy::OverridingPositions::IDLE: {
             set_current_position<Idle>();
             return true;

soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp

@@ -10,9 +10,9 @@
 #include <rj_msgs/action/robot_move.hpp>
 
 #include "game_state.hpp"
+#include "overriding_positions.hpp"
 #include "planning/instant.hpp"
 #include "position.hpp"
-#include "overriding_positions.hpp"
 #include "rj_common/field_dimensions.hpp"
 #include "rj_common/time.hpp"
 #include "rj_constants/constants.hpp"
@@ -112,12 +112,12 @@ class RobotFactoryPosition : public Position {
 private:
     std::unique_ptr<Position> current_position_;
 
-    //subscription for test mode - Allows position overriding
+    // subscription for test mode - Allows position overriding
     rclcpp::Subscription<rj_msgs::msg::OverridePosition>::SharedPtr test_play_sub_;
     rclcpp::executors::SingleThreadedExecutor _executor;
     std::thread _executor_thread;
     void test_play_callback(const rj_msgs::msg::OverridePosition::SharedPtr message);
-    Strategy::OverridingPositions test_play_position_ {Strategy::OverridingPositions::AUTO};
+    Strategy::OverridingPositions test_play_position_{Strategy::OverridingPositions::AUTO};
     rclcpp::Node::SharedPtr _node;
 
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;

soccer/src/soccer/ui/main_window.cpp

@@ -187,16 +187,18 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
     _set_game_settings = _node->create_client<rj_msgs::srv::SetGameSettings>(
         config_server::topics::kGameSettingsSrv);
 
-    test_play_pub_ = _node->create_publisher<rj_msgs::msg::OverridePosition>(
-        "override_position_for_robot", 1);
+    test_play_pub_ =
+        _node->create_publisher<rj_msgs::msg::OverridePosition>("override_position_for_robot", 1);
 
     _executor.add_node(_node);
     _executor_thread = std::thread([this]() { _executor.spin(); });
 
     // Connect up all the test position buttons and dropdowns to their listeners
     for (int i = 0; i < kNumShells; ++i) {
-        robot_pos_selectors[i] = findChild<QComboBox*>(QString::fromStdString("robotPosition_" + std::to_string(i)));
-        position_reset_buttons[i] = findChild<QPushButton*>(QString::fromStdString("positionReset_" + std::to_string(i)));
+        robot_pos_selectors[i] =
+            findChild<QComboBox*>(QString::fromStdString("robotPosition_" + std::to_string(i)));
+        position_reset_buttons[i] =
+            findChild<QPushButton*>(QString::fromStdString("positionReset_" + std::to_string(i)));
     }
 }
 
@@ -1046,14 +1048,14 @@ void MainWindow::on_actionUse_Multiple_Joysticks_toggled(bool value) {
 
 void MainWindow::on_goalieID_currentIndexChanged(int value) {
     update_cache(_game_settings.request_goalie_id, value - 1, &_game_settings_valid);
-        //This is a convoluted scheme to figure out who the goalie is
-    //May not be necessary later
+    // This is a convoluted scheme to figure out who the goalie is
+    // May not be necessary later
     QString goalieNum = _ui.goalieID->currentText();
-    bool goalieNumIsInt {false};
+    bool goalieNumIsInt{false};
     int goalieInt = goalieNum.toInt(&goalieNumIsInt);
     if (goalieNumIsInt)
         setGoalieDropdown(goalieInt);
-    else 
+    else
         setGoalieDropdown(-1);
 }
 
@@ -1280,10 +1282,10 @@ void MainWindow::onResetButtonClicked(int robot) {
 }
 
 void MainWindow::onPositionDropdownChanged(int robot, int position_number) {
-    //This is a convoluted scheme to figure out who the goalie is
-    //May not be necessary later
+    // This is a convoluted scheme to figure out who the goalie is
+    // May not be necessary later
     QString goalieNum = _ui.goalieID->currentText();
-    bool goalieNumIsInt {false};
+    bool goalieNumIsInt{false};
     int goalieInt = goalieNum.toInt(&goalieNumIsInt);
     if (!goalieNumIsInt || goalieInt != robot) {
         rj_msgs::msg::OverridePosition message;
@@ -1318,4 +1320,3 @@ void MainWindow::populate_override_position_dropdowns() {
         }
     }
 }
-

soccer/src/soccer/ui/main_window.hpp

@@ -6,17 +6,16 @@
 #include <QComboBox>
 #include <QMainWindow>
 #include <QPushButton>
-#include <QComboBox>
 #include <QTime>
 #include <QTimer>
 #include <QtGui/QStandardItemModel>
 #include <rclcpp/rclcpp.hpp>
 
 #include <rj_convert/ros_convert.hpp>
+#include <rj_msgs/msg/override_position.hpp>
 #include <rj_msgs/srv/quick_commands.hpp>
 #include <rj_msgs/srv/quick_restart.hpp>
 #include <rj_msgs/srv/set_game_settings.hpp>
-#include <rj_msgs/msg/override_position.hpp>
 
 #include "field_view.hpp"
 #include "game_state.hpp"
@@ -314,18 +313,11 @@ private Q_SLOTS:
     rj_msgs::msg::GameSettings _game_settings;
     bool _game_settings_valid = false;
 
-    std::vector<std::string> overriding_position_labels {
-        "Auto",
-        "Offense",
-        "Defense",
-        "Free Kicker",
-        "Penalty Player",
-        "Penalty Non-Kicker",
-        "Solo Offense",
-        "Smart Idle",
-        "Zoner",
-        "Idle"
-    };
+    std::vector<std::string> overriding_position_labels{"Auto",           "Offense",
+                                                        "Defense",        "Free Kicker",
+                                                        "Penalty Player", "Penalty Non-Kicker",
+                                                        "Solo Offense",   "Smart Idle",
+                                                        "Zoner",          "Idle"};
 
     void populate_override_position_dropdowns();
 };