Code style fixes for Jazzy

.github/workflows/ci.yml

@@ -0,0 +1,38 @@
+name: clearpath_motor_drivers_ci
+
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: "0 0 * * *" # every day at midnight
+
+jobs:
+  build_and_test:
+    name: jazzy
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
+      fail-fast: false
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+
+  clearpath_motor_drivers_src_ci:
+    name: Jazzy Clearpath Source
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy
+          package-name: |
+            puma_motor_driver
+          vcs-repo-file-url: dependencies.repos

dependencies.repos

@@ -0,0 +1,9 @@
+repositories:
+  clearpath_msgs:
+    type: git
+    url: https://github.com/clearpathrobotics/clearpath_msgs.git
+    version: jazzy-2.0RC
+  clearpath_ros2_socketcan_interface:
+    type: git
+    url: https://github.com/clearpathrobotics/clearpath_ros2_socketcan_interface.git
+    version: jazzy-2.0RC

puma_motor_driver/include/puma_motor_driver/can_proto.hpp

@@ -130,8 +130,7 @@
 // The Stellaris Motor Class Control Voltage API definitions.
 //
 //*****************************************************************************
-#define LM_API_VOLT             (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_VOLTAGE)
+#define LM_API_VOLT             (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VOLTAGE)
 #define LM_API_VOLT_EN          (LM_API_VOLT | (0 << CAN_MSGID_API_S))
 #define LM_API_VOLT_DIS         (LM_API_VOLT | (1 << CAN_MSGID_API_S))
 #define LM_API_VOLT_SET         (LM_API_VOLT | (2 << CAN_MSGID_API_S))
@@ -157,8 +156,7 @@
 // The Stellaris Motor Class Speed Control API definitions.
 //
 //*****************************************************************************
-#define LM_API_SPD              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_SPD)
+#define LM_API_SPD              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_SPD)
 #define LM_API_SPD_EN           (LM_API_SPD | (0 << CAN_MSGID_API_S))
 #define LM_API_SPD_DIS          (LM_API_SPD | (1 << CAN_MSGID_API_S))
 #define LM_API_SPD_SET          (LM_API_SPD | (2 << CAN_MSGID_API_S))
@@ -173,8 +171,7 @@
 // The Stellaris Motor Control Voltage Compensation Control API definitions.
 //
 //*****************************************************************************
-#define LM_API_VCOMP            (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_VCOMP)
+#define LM_API_VCOMP            (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VCOMP)
 #define LM_API_VCOMP_EN         (LM_API_VCOMP | (0 << CAN_MSGID_API_S))
 #define LM_API_VCOMP_DIS        (LM_API_VCOMP | (1 << CAN_MSGID_API_S))
 #define LM_API_VCOMP_SET        (LM_API_VCOMP | (2 << CAN_MSGID_API_S))
@@ -187,8 +184,7 @@
 // The Stellaris Motor Class Position Control API definitions.
 //
 //*****************************************************************************
-#define LM_API_POS              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_POS)
+#define LM_API_POS              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_POS)
 #define LM_API_POS_EN           (LM_API_POS | (0 << CAN_MSGID_API_S))
 #define LM_API_POS_DIS          (LM_API_POS | (1 << CAN_MSGID_API_S))
 #define LM_API_POS_SET          (LM_API_POS | (2 << CAN_MSGID_API_S))
@@ -203,8 +199,7 @@
 // The Stellaris Motor Class Current Control API definitions.
 //
 //*****************************************************************************
-#define LM_API_ICTRL            (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_ICTRL)
+#define LM_API_ICTRL            (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ICTRL)
 #define LM_API_ICTRL_EN         (LM_API_ICTRL | (0 << CAN_MSGID_API_S))
 #define LM_API_ICTRL_DIS        (LM_API_ICTRL | (1 << CAN_MSGID_API_S))
 #define LM_API_ICTRL_SET        (LM_API_ICTRL | (2 << CAN_MSGID_API_S))
@@ -232,8 +227,7 @@
 // The Stellaris Motor Class Status API definitions.
 //
 //*****************************************************************************
-#define LM_API_STATUS           (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_STATUS)
+#define LM_API_STATUS           (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_STATUS)
 #define LM_API_STATUS_VOLTOUT   (LM_API_STATUS | (0 << CAN_MSGID_API_S))
 #define LM_API_STATUS_VOLTBUS   (LM_API_STATUS | (1 << CAN_MSGID_API_S))
 #define LM_API_STATUS_CURRENT   (LM_API_STATUS | (2 << CAN_MSGID_API_S))
@@ -274,8 +268,7 @@
 // The Stellaris Motor Class Configuration API definitions.
 //
 //*****************************************************************************
-#define LM_API_CFG              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_CFG)
+#define LM_API_CFG              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_CFG)
 #define LM_API_CFG_NUM_BRUSHES  (LM_API_CFG | (0 << CAN_MSGID_API_S))
 #define LM_API_CFG_ENC_LINES    (LM_API_CFG | (1 << CAN_MSGID_API_S))
 #define LM_API_CFG_POT_TURNS    (LM_API_CFG | (2 << CAN_MSGID_API_S))
@@ -298,8 +291,7 @@
 // The Stellaris ACK API definition.
 //
 //*****************************************************************************
-#define LM_API_ACK              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_ACK)
+#define LM_API_ACK              (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ACK)
 
 //*****************************************************************************
 //
@@ -350,8 +342,7 @@
 // The Stellaris Motor Class Periodic Status API definitions.
 //
 //*****************************************************************************
-#define LM_API_PSTAT            (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR |   \
-                                 CAN_API_MC_PSTAT)
+#define LM_API_PSTAT            (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_PSTAT)
 #define LM_API_PSTAT_PER_EN_S0  (LM_API_PSTAT | (0 << CAN_MSGID_API_S))
 #define LM_API_PSTAT_PER_EN_S1  (LM_API_PSTAT | (1 << CAN_MSGID_API_S))
 #define LM_API_PSTAT_PER_EN_S2  (LM_API_PSTAT | (2 << CAN_MSGID_API_S))
@@ -372,39 +363,37 @@
 // little-endian, therefore B0 is the least significant byte.
 //
 //*****************************************************************************
-#define LM_PSTAT_END            0
-#define LM_PSTAT_VOLTOUT_B0     1
-#define LM_PSTAT_VOLTOUT_B1     2
-#define LM_PSTAT_VOLTBUS_B0     3
-#define LM_PSTAT_VOLTBUS_B1     4
-#define LM_PSTAT_CURRENT_B0     5
-#define LM_PSTAT_CURRENT_B1     6
-#define LM_PSTAT_TEMP_B0        7
-#define LM_PSTAT_TEMP_B1        8
-#define LM_PSTAT_POS_B0         9
-#define LM_PSTAT_POS_B1         10
-#define LM_PSTAT_POS_B2         11
-#define LM_PSTAT_POS_B3         12
-#define LM_PSTAT_SPD_B0         13
-#define LM_PSTAT_SPD_B1         14
-#define LM_PSTAT_SPD_B2         15
-#define LM_PSTAT_SPD_B3         16
-#define LM_PSTAT_LIMIT_NCLR     17
-#define LM_PSTAT_LIMIT_CLR      18
-#define LM_PSTAT_FAULT          19
-#define LM_PSTAT_STKY_FLT_NCLR  20
-#define LM_PSTAT_STKY_FLT_CLR   21
-#define LM_PSTAT_VOUT_B0        22
-#define LM_PSTAT_VOUT_B1        23
-#define LM_PSTAT_FLT_COUNT_CURRENT \
-                                24
-#define LM_PSTAT_FLT_COUNT_TEMP 25
-#define LM_PSTAT_FLT_COUNT_VOLTBUS \
-                                26
-#define LM_PSTAT_FLT_COUNT_GATE 27
-#define LM_PSTAT_FLT_COUNT_COMM 28
-#define LM_PSTAT_CANSTS         29
-#define LM_PSTAT_CANERR_B0      30
-#define LM_PSTAT_CANERR_B1      31
+#define LM_PSTAT_END                0
+#define LM_PSTAT_VOLTOUT_B0         1
+#define LM_PSTAT_VOLTOUT_B1         2
+#define LM_PSTAT_VOLTBUS_B0         3
+#define LM_PSTAT_VOLTBUS_B1         4
+#define LM_PSTAT_CURRENT_B0         5
+#define LM_PSTAT_CURRENT_B1         6
+#define LM_PSTAT_TEMP_B0            7
+#define LM_PSTAT_TEMP_B1            8
+#define LM_PSTAT_POS_B0             9
+#define LM_PSTAT_POS_B1             10
+#define LM_PSTAT_POS_B2             11
+#define LM_PSTAT_POS_B3             12
+#define LM_PSTAT_SPD_B0             13
+#define LM_PSTAT_SPD_B1             14
+#define LM_PSTAT_SPD_B2             15
+#define LM_PSTAT_SPD_B3             16
+#define LM_PSTAT_LIMIT_NCLR         17
+#define LM_PSTAT_LIMIT_CLR          18
+#define LM_PSTAT_FAULT              19
+#define LM_PSTAT_STKY_FLT_NCLR      20
+#define LM_PSTAT_STKY_FLT_CLR       21
+#define LM_PSTAT_VOUT_B0            22
+#define LM_PSTAT_VOUT_B1            23
+#define LM_PSTAT_FLT_COUNT_CURRENT  24
+#define LM_PSTAT_FLT_COUNT_TEMP     25
+#define LM_PSTAT_FLT_COUNT_VOLTBUS  26
+#define LM_PSTAT_FLT_COUNT_GATE     27
+#define LM_PSTAT_FLT_COUNT_COMM     28
+#define LM_PSTAT_CANSTS             29
+#define LM_PSTAT_CANERR_B0          30
+#define LM_PSTAT_CANERR_B1          31
 
 #endif // __CAN_PROTO_H__

puma_motor_driver/include/puma_motor_driver/driver.hpp

@@ -40,10 +40,11 @@ namespace puma_motor_driver
 class Driver
 {
 public:
-  Driver(const std::shared_ptr<clearpath_ros2_socketcan_interface::SocketCANInterface> interface,
+  Driver(
+    const std::shared_ptr<clearpath_ros2_socketcan_interface::SocketCANInterface> interface,
     std::shared_ptr<rclcpp::Node> nh,
-    const uint8_t& device_number,
-    const std::string& device_name);
+    const uint8_t & device_number,
+    const std::string & device_name);
 
   void processMessage(const can_msgs::msg::Frame::SharedPtr received_msg);
 
@@ -394,21 +395,21 @@ class Driver
    *
    * @return pointer to raw 4 bytes of the P gain response.
    */
-  uint8_t* getRawP();
+  uint8_t * getRawP();
   /**
    * Process the last received I gain
    * for the current control mode.
    *
    * @return pointer to raw 4 bytes of the I gain response.
    */
-  uint8_t* getRawI();
+  uint8_t * getRawI();
   /**
    * Process the last received I gain
    * for the current control mode.
    *
    * @return pointer to raw 4 bytes of the I gain response.
    */
-  uint8_t* getRawD();
+  uint8_t * getRawD();
   /**
    * Process the last received set-point response
    * in voltage open-loop control.
@@ -438,11 +439,9 @@ class Driver
    */
   double statusPositionGet();
 
+  std::string deviceName() const {return device_name_;}
 
-
-  std::string deviceName() const { return device_name_; }
-
-  uint8_t deviceNumber() const { return device_number_; }
+  uint8_t deviceNumber() const {return device_number_;}
 
   // Only used internally but is used for testing.
   struct Field
@@ -452,16 +451,15 @@ class Driver
 
     float interpretFixed8x8()
     {
-      return *(reinterpret_cast<int16_t*>(data)) / static_cast<float>(1<<8);
+      return *(reinterpret_cast<int16_t *>(data)) / static_cast<float>(1 << 8);
     }
 
     double interpretFixed16x16()
     {
-      return *(reinterpret_cast<int32_t*>(data)) / static_cast<double>(1<<16);
+      return *(reinterpret_cast<int32_t *>(data)) / static_cast<double>(1 << 16);
     }
   };
 
-
 private:
   std::shared_ptr<clearpath_ros2_socketcan_interface::SocketCANInterface> interface_;
   std::shared_ptr<rclcpp::Node> nh_;
@@ -497,15 +495,15 @@ class Driver
    *
    * @return boolean if received is equal to expected.
    */
-  bool verifyRaw16x16(const uint8_t* received, const double expected);
+  bool verifyRaw16x16(const uint8_t * received, const double expected);
 
   /**
    * Comparing the raw bytes of the 8x8 fixed-point numbers
     * to avoid comparing the floating point values.
    *
    * @return boolean if received is equal to expected.
    */
-  bool verifyRaw8x8(const uint8_t* received, const float expected);
+  bool verifyRaw8x8(const uint8_t * received, const float expected);
 
   Field voltage_fields_[4];
   Field spd_fields_[7];
@@ -515,13 +513,13 @@ class Driver
   Field status_fields_[15];
   Field cfg_fields_[15];
 
-  Field* voltageFieldForMessage(uint32_t api);
-  Field* spdFieldForMessage(uint32_t api);
-  Field* vcompFieldForMessage(uint32_t api);
-  Field* posFieldForMessage(uint32_t api);
-  Field* ictrlFieldForMessage(uint32_t api);
-  Field* statusFieldForMessage(uint32_t api);
-  Field* cfgFieldForMessage(uint32_t api);
+  Field * voltageFieldForMessage(uint32_t api);
+  Field * spdFieldForMessage(uint32_t api);
+  Field * vcompFieldForMessage(uint32_t api);
+  Field * posFieldForMessage(uint32_t api);
+  Field * ictrlFieldForMessage(uint32_t api);
+  Field * statusFieldForMessage(uint32_t api);
+  Field * cfgFieldForMessage(uint32_t api);
 };
 
 }  // namespace puma_motor_driver

puma_motor_driver/include/puma_motor_driver/multi_puma_node.hpp

@@ -38,33 +38,35 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 #include "puma_motor_driver/driver.hpp"
 // #include "puma_motor_driver/diagnostic_updater.hpp"
 
-namespace FeedbackBit{
-  enum
-  {
-    DutyCycle,
-    Current,
-    Position,
-    Speed,
-    Setpoint,
-    Count,
-  };
+namespace FeedbackBit
+{
+enum
+{
+  DutyCycle,
+  Current,
+  Position,
+  Speed,
+  Setpoint,
+  Count,
 };
+}
 
-namespace StatusBit{
-  enum
-  {
-    BusVoltage,
-    OutVoltage,
-    AnalogInput,
-    Temperature,
-    Mode,
-    Fault,
-    Count,
-  };
+namespace StatusBit
+{
+enum
+{
+  BusVoltage,
+  OutVoltage,
+  AnalogInput,
+  Temperature,
+  Mode,
+  Fault,
+  Count,
 };
+}
 
 class MultiPumaNode
-: public rclcpp::Node
+  : public rclcpp::Node
 {
 public:
   MultiPumaNode(const std::string node_name);

puma_motor_driver/package.xml

@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>can_msgs</depend>
   <depend>clearpath_motor_msgs</depend>
-  <depend>rclcpp</depend>
   <depend>clearpath_ros2_socketcan_interface</depend>
+  <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>