Updates to match with clang 19

Turns out the clang-format version bundled with vscode is 19.  I was using an extension which needs it to be installed separately.

Author: mikehosmar

puma_motor_driver/.clang-format

@@ -1,68 +1,59 @@
 ---
 BasedOnStyle: Google
 AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
-AlignAfterOpenBracket: Align
-AlignConsecutiveAssignments: Consecutive
-AlignConsecutiveDeclarations: Consecutive
-AlignConsecutiveMacros: AcrossEmptyLines
-AlignEscapedNewlines:  Left # Revisit when clang-format is updated
-AlignTrailingComments: true
+AlignConsecutiveAssignments:
+  Enabled: true
+  AlignCompound: true
+AlignConsecutiveDeclarations:
+  Enabled: true
+  PadOperators: true
+AlignConsecutiveMacros:
+  Enabled: true
+  AcrossEmptyLines: true
+  PadOperators: true
+AlignTrailingComments:
+  OverEmptyLines: 1
 AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortFunctionsOnASingleLine: None
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: true
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterCaseLabel: false
+  AfterClass: "true"
+  AfterControlStatement: "true"
+  AfterEnum: "true"
+  AfterFunction: "true"
+  AfterNamespace: "true"
+  AfterObjCDeclaration: false
+  AfterStruct: "true"
+  AfterUnion: "true"
+  AfterExternBlock: false
+  BeforeCatch: "true"
+  BeforeElse: "true"
+  BeforeLambdaBody: false
+  BeforeWhile: false
+  IndentBraces: "false"
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakAfterReturnType: Automatic
 BreakBeforeBinaryOperators: false
+BreakBeforeBraces: Custom
 BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
-BinPackArguments: false # Revisit when clang-format is updated
-BinPackParameters: false # Revisit when clang-format is updated
+BreakConstructorInitializers: BeforeComma
+BreakTemplateDeclarations: MultiLine
 ColumnLimit: 120
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
+ConstructorInitializerIndentWidth: 2
+Cpp11BracedListStyle: false
+PackConstructorInitializers: NextLine
 PenaltyBreakBeforeFirstCallParameter: 19
 PenaltyBreakComment: 60
-PenaltyBreakString: 1
 PenaltyBreakFirstLessLess: 1000
+PenaltyBreakString: 1
 PenaltyExcessCharacter: 1000
 PenaltyReturnTypeOnItsOwnLine: 90
-SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard: Auto
-IndentWidth: 2
-TabWidth: 2
-UseTab: Never
-IndentFunctionDeclarationAfterType: false
-SpacesInParentheses: false
-SpacesInAngles: false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
 SortIncludes: false
-SpaceAfterCStyleCast: false
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
-BraceWrapping:
-  AfterClass: 'true'
-  AfterControlStatement: 'true'
-  AfterEnum : 'true'
-  AfterFunction : 'true'
-  AfterNamespace : 'true'
-  AfterStruct : 'true'
-  AfterUnion : 'true'
-  BeforeCatch : 'true'
-  BeforeElse : 'true'
-  IndentBraces : 'false'
+SpacesInAngles: false
+TabWidth: 2

puma_motor_driver/include/puma_motor_driver/driver.hpp

@@ -40,9 +40,9 @@ class Driver
 {
 public:
   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);
+         std::shared_ptr<rclcpp::Node>                                                 nh,
+         const uint8_t&                                                                device_number,
+         const std::string&                                                            device_name);
 
   void processMessage(const can_msgs::msg::Frame::SharedPtr received_msg);
 
@@ -451,7 +451,7 @@ class Driver
   struct Field
   {
     uint8_t data[4];
-    bool received;
+    bool    received;
 
     float interpretFixed8x8()
     {
@@ -466,32 +466,32 @@ class Driver
 
 private:
   std::shared_ptr<clearpath_ros2_socketcan_interface::SocketCANInterface> interface_;
-  std::shared_ptr<rclcpp::Node> nh_;
-  uint8_t device_number_;
-  std::string device_name_;
+  std::shared_ptr<rclcpp::Node>                                           nh_;
+  uint8_t                                                                 device_number_;
+  std::string                                                             device_name_;
 
-  bool configured_;
+  bool    configured_;
   uint8_t state_;
 
-  uint8_t control_mode_;
-  double gain_p_;
-  double gain_i_;
-  double gain_d_;
+  uint8_t  control_mode_;
+  double   gain_p_;
+  double   gain_i_;
+  double   gain_d_;
   uint16_t encoder_cpr_;
-  float gear_ratio_;
+  float    gear_ratio_;
 
   /**
    * Helpers to generate data for CAN messages.
    */
   can_msgs::msg::Frame::SharedPtr can_msg_;
-  void sendId(const uint32_t id);
-  void sendUint8(const uint32_t id, const uint8_t value);
-  void sendUint16(const uint32_t id, const uint16_t value);
-  void sendFixed8x8(const uint32_t id, const float value);
-  void sendFixed16x16(const uint32_t id, const double value);
-  can_msgs::msg::Frame getMsg(const uint32_t id);
-  uint32_t getApi(const can_msgs::msg::Frame msg);
-  uint32_t getDeviceNumber(const can_msgs::msg::Frame msg);
+  void                            sendId(const uint32_t id);
+  void                            sendUint8(const uint32_t id, const uint8_t value);
+  void                            sendUint16(const uint32_t id, const uint16_t value);
+  void                            sendFixed8x8(const uint32_t id, const float value);
+  void                            sendFixed16x16(const uint32_t id, const double value);
+  can_msgs::msg::Frame            getMsg(const uint32_t id);
+  uint32_t                        getApi(const can_msgs::msg::Frame msg);
+  uint32_t                        getDeviceNumber(const can_msgs::msg::Frame msg);
 
   /**
    * Comparing the raw bytes of the 16x16 fixed-point numbers

puma_motor_driver/include/puma_motor_driver/multi_puma_node.hpp

@@ -118,32 +118,32 @@ class MultiPumaNode : public rclcpp::Node
 
 private:
   std::shared_ptr<clearpath_ros2_socketcan_interface::SocketCANInterface> interface_;
-  std::vector<puma_motor_driver::Driver> drivers_;
-
-  bool active_;
-  double gear_ratio_;
-  int encoder_cpr_;
-  int freq_;
-  uint8_t status_count_;
-  uint8_t desired_mode_;
-  std::string canbus_dev_;
+  std::vector<puma_motor_driver::Driver>                                  drivers_;
+
+  bool                     active_;
+  double                   gear_ratio_;
+  int                      encoder_cpr_;
+  int                      freq_;
+  uint8_t                  status_count_;
+  uint8_t                  desired_mode_;
+  std::string              canbus_dev_;
   std::vector<std::string> joint_names_;
-  std::vector<int64_t> joint_can_ids_;
-  std::vector<int64_t> joint_directions_;
+  std::vector<int64_t>     joint_can_ids_;
+  std::vector<int64_t>     joint_directions_;
 
-  can_msgs::msg::Frame::SharedPtr recv_msg_;
-  clearpath_motor_msgs::msg::PumaMultiStatus status_msg_;
+  can_msgs::msg::Frame::SharedPtr              recv_msg_;
+  clearpath_motor_msgs::msg::PumaMultiStatus   status_msg_;
   clearpath_motor_msgs::msg::PumaMultiFeedback feedback_msg_;
 
   double gain_p_;
   double gain_i_;
   double gain_d_;
 
-  rclcpp::Node::SharedPtr node_handle_;
-  rclcpp::Publisher<clearpath_motor_msgs::msg::PumaMultiStatus>::SharedPtr status_pub_;
+  rclcpp::Node::SharedPtr                                                    node_handle_;
+  rclcpp::Publisher<clearpath_motor_msgs::msg::PumaMultiStatus>::SharedPtr   status_pub_;
   rclcpp::Publisher<clearpath_motor_msgs::msg::PumaMultiFeedback>::SharedPtr feedback_pub_;
-  rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr cmd_sub_;
-  rclcpp::TimerBase::SharedPtr run_timer_;
+  rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr              cmd_sub_;
+  rclcpp::TimerBase::SharedPtr                                               run_timer_;
 };
 
 #endif  // PUMA_MOTOR_DRIVER_PUMA_NODE_H