fixing lint errors

ros-drivers · Mar 24, 2021 · 50bc2fd · 50bc2fd
1 parent 56b7a35
commit 50bc2fd
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Showing 4 changed files with 194 additions and 189 deletions.
diff --git a/include/usb_cam/usb_cam.h b/include/usb_cam/usb_cam.h
@@ -33,8 +33,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *
  *********************************************************************/
-#ifndef USB_CAM_USB_CAM_H
-#define USB_CAM_USB_CAM_H
+#ifndef USB_CAM__USB_CAM_H_
+#define USB_CAM__USB_CAM_H_
 
 #include <asm/types.h>          /* for videodev2.h */
 
@@ -53,9 +53,11 @@ extern "C"
 #endif
 
 #include <builtin_interfaces/msg/time.hpp>
+#include <rclcpp/rclcpp.hpp>
 #include <rclcpp/time.hpp>
 // #include <sensor_msgs/msg/image.h>
 #include <string>
+#include <vector>
 #include <sstream>
 
 #define ROS_INFO(msg, ...) printf(msg,  ##__VA_ARGS__)
@@ -65,9 +67,12 @@ extern "C"
 // #define ROS_DEBUG(msg, ...) // ##__VA_ARGS__
 #define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
 
-#define INFO(msg) std::cout << "I [" << __FILENAME__ << ":" << __LINE__ << " " << __FUNCTION__ << "] " << msg << "\n"
-#define WARN(msg) std::cout << "W [" << __FILENAME__ << ":" << __LINE__ << " " << __FUNCTION__ << "] " << msg << "\n"
-#define ERROR(msg) std::cerr << "E [" << __FILENAME__ << ":" << __LINE__ << " " << __FUNCTION__ << "] " << msg << std::endl
+#define INFO(msg) std::cout << "I [" << __FILENAME__ << ":" << __LINE__ \
+                            << " " << __FUNCTION__ << "] " << msg << "\n"
+#define WARN(msg) std::cout << "W [" << __FILENAME__ << ":" << __LINE__ \
+                            << " " << __FUNCTION__ << "] " << msg << "\n"
+#define ERROR(msg) std::cerr << "E [" << __FILENAME__ << ":" << __LINE__ \
+                             << " " << __FUNCTION__ << "] " << msg << std::endl
 #define ROS_ERROR_STREAM(msg) ERROR(msg)
 
 namespace usb_cam {
@@ -76,20 +81,29 @@ class UsbCam {
  public:
   typedef enum
   {
-    IO_METHOD_READ, IO_METHOD_MMAP, IO_METHOD_USERPTR, IO_METHOD_UNKNOWN,
+    IO_METHOD_READ,
+    IO_METHOD_MMAP,
+    IO_METHOD_USERPTR,
+    IO_METHOD_UNKNOWN,
   } io_method;
 
   typedef enum
   {
-    PIXEL_FORMAT_YUYV, PIXEL_FORMAT_UYVY, PIXEL_FORMAT_MJPEG, PIXEL_FORMAT_YUVMONO10, PIXEL_FORMAT_RGB24, PIXEL_FORMAT_GREY, PIXEL_FORMAT_UNKNOWN
+    PIXEL_FORMAT_YUYV,
+    PIXEL_FORMAT_UYVY,
+    PIXEL_FORMAT_MJPEG,
+    PIXEL_FORMAT_YUVMONO10,
+    PIXEL_FORMAT_RGB24,
+    PIXEL_FORMAT_GREY,
+    PIXEL_FORMAT_UNKNOWN
   } pixel_format;
 
   UsbCam();
   ~UsbCam();
 
   // start camera
   bool start(const std::string& dev, io_method io, pixel_format pf,
-		    int image_width, int image_height, int framerate);
+              int image_width, int image_height, int framerate);
   // shutdown camera
   bool shutdown(void);
 
@@ -167,10 +181,9 @@ class UsbCam {
   int avframe_rgb_size_;
   struct SwsContext *video_sws_;
   camera_image_t *image_;
-
 };
 
-}
+}  // namespace usb_cam
 
-#endif
+#endif  // USB_CAM__USB_CAM_H_
 
diff --git a/nodes/usb_cam_node.cpp b/nodes/usb_cam_node.cpp
@@ -33,7 +33,6 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *********************************************************************/
-
 #include <rclcpp/rclcpp.hpp>
 #include <usb_cam/usb_cam.h>
 // #include <image_transport/image_transport.h>
@@ -42,6 +41,9 @@
 #include <sstream>
 // #include <std_srvs/srv/Empty.h>
 
+#include <string>
+#include <memory>
+
 std::ostream& operator<<(std::ostream& ostr, const rclcpp::Time& tm) {
   ostr << tm.nanoseconds();
   return ostr;
@@ -132,17 +134,17 @@ class UsbCamNode : public rclcpp::Node
     get_parameter_or("image_height", image_height_, image_height_);
 
 #if 0
-    node_.param("brightness", brightness_, -1); //0-255, -1 "leave alone"
-    node_.param("contrast", contrast_, -1); //0-255, -1 "leave alone"
-    node_.param("saturation", saturation_, -1); //0-255, -1 "leave alone"
-    node_.param("sharpness", sharpness_, -1); //0-255, -1 "leave alone"
+    node_.param("brightness", brightness_, -1);  // 0-255, -1 "leave alone"
+    node_.param("contrast", contrast_, -1);  // 0-255, -1 "leave alone"
+    node_.param("saturation", saturation_, -1);  // 0-255, -1 "leave alone"
+    node_.param("sharpness", sharpness_, -1);  // 0-255, -1 "leave alone"
     // enable/disable autofocus
     node_.param("autofocus", autofocus_, false);
-    node_.param("focus", focus_, -1); //0-255, -1 "leave alone"
+    node_.param("focus", focus_, -1);  // 0-255, -1 "leave alone"
     // enable/disable autoexposure
     node_.param("autoexposure", autoexposure_, true);
     node_.param("exposure", exposure_, 100);
-    node_.param("gain", gain_, -1); //0-100?, -1 "leave alone"
+    node_.param("gain", gain_, -1);  // 0-100?, -1 "leave alone"
     // enable/disable auto white balance temperature
     node_.param("auto_white_balance", auto_white_balance_, true);
     node_.param("white_balance", white_balance_, 4000);
@@ -197,7 +199,7 @@ class UsbCamNode : public rclcpp::Node
 
     // start the camera
     cam_.start(video_device_name_.c_str(), io_method, pixel_format, image_width_,
-		     image_height_, framerate_);
+               image_height_, framerate_);
 
     cam_.get_formats();
 
@@ -232,9 +234,7 @@ class UsbCamNode : public rclcpp::Node
     if (auto_white_balance_)
     {
       cam_.set_v4l_parameter("white_balance_temperature_auto", 1);
-    }
-    else
-    {
+    } else {
       cam_.set_v4l_parameter("white_balance_temperature_auto", 0);
       cam_.set_v4l_parameter("white_balance_temperature", white_balance_);
     }
@@ -253,9 +253,7 @@ class UsbCamNode : public rclcpp::Node
     {
       cam_.set_auto_focus(1);
       cam_.set_v4l_parameter("focus_auto", 1);
-    }
-    else
-    {
+    } else {
       cam_.set_v4l_parameter("focus_auto", 0);
       if (focus_ >= 0)
       {
@@ -268,7 +266,7 @@ class UsbCamNode : public rclcpp::Node
     // TODO(lucasw) how to do small than ms, or fractional ms- std::chrono::nanoseconds?
     const int period_ms = 1000.0 / framerate_;
     timer_ = this->create_wall_timer(
-        std::chrono::milliseconds(static_cast<long int>(period_ms)),
+        std::chrono::milliseconds(static_cast<int64_t>(period_ms)),
         std::bind(&UsbCamNode::update, this));
     INFO("starting timer " << period_ms);
   }
@@ -318,7 +316,7 @@ class UsbCamNode : public rclcpp::Node
   }
 };
 
-}
+}  // namespace usb_cam
 
 int main(int argc, char **argv)
 {

diff --git a/package.xml b/package.xml
@@ -17,6 +17,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>ffmpeg</depend>
+  <depend>libboost-dev</depend>
+  <depend>libboost-lexical-cast-dev</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>