Format source files by clang-format (#187)

.clang-format

@@ -0,0 +1,69 @@
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackParameters: true
+BreakBeforeBinaryOperators: false
+BreakBeforeBraces: Custom
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+ColumnLimit: 0
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+ExperimentalAutoDetectBinPacking: false
+IncludeBlocks: Preserve
+IndentCaseLabels: true
+IndentExternBlock: NoIndent
+IndentFunctionDeclarationAfterType: false
+IndentWidth: 2
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakFirstLessLess: 1000
+PenaltyBreakString: 1
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+PointerAlignment: Left
+SortIncludes: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+Standard: Cpp11
+TabWidth: 2
+UseTab: Never
+
+BraceWrapping:
+  AfterCaseLabel: true
+  AfterClass: true
+  AfterControlStatement: Always
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterObjCDeclaration: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterExternBlock: true
+  BeforeCatch: true
+  BeforeElse: true
+  BeforeLambdaBody: true
+  BeforeWhile: true
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true

auxlib/cartesian2d.h

@@ -22,15 +22,16 @@
 #define __AUXLIB_CARTESIAN2D_H
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif  // __cplusplus
 
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <math.h>
 
-typedef struct cs_t *CSptr;
+typedef struct cs_t* CSptr;
 typedef struct cs_t
 {
   double x;
@@ -46,12 +47,12 @@ CSptr CS_add(CSptr parent_cs, double x, double y, double theta);
 int CS_delete(CSptr target_cs);
 int CS_set(CSptr target_cs, double x, double y, double theta);
 int CS_set_on_CS(CSptr target_cs, CSptr on_cs, double x, double y, double theta);
-void CS_turn_base(double *x, double *y, double *theta);
+void CS_turn_base(double* x, double* y, double* theta);
 
-void CS_recursive_trans(CSptr target_cs, CSptr now_cs, double *x, double *y, double *theta);
-void inv_trans_cs(CSptr target_cs, double *x, double *y, double *theta);
-void trans_cs(CSptr target_cs, double *x, double *y, double *theta);
-void trace_trans_cs(CSptr target_cs, double *x, double *y, double *theta);
+void CS_recursive_trans(CSptr target_cs, CSptr now_cs, double* x, double* y, double* theta);
+void inv_trans_cs(CSptr target_cs, double* x, double* y, double* theta);
+void trans_cs(CSptr target_cs, double* x, double* y, double* theta);
+void trace_trans_cs(CSptr target_cs, double* x, double* y, double* theta);
 
 #ifdef __cplusplus
 }

auxlib/libcarte2d.c

@@ -91,7 +91,7 @@ int CS_delete(CSptr target_cs)
 
   if (target_cs)
   {
-    free((void *)target_cs);
+    free((void*)target_cs);
   }
   return 1;
 }
@@ -120,7 +120,7 @@ int CS_set_on_CS(CSptr target_cs, CSptr on_cs, double x, double y, double theta)
 }
 
 /* 子から見た親の位置を、親から見た自分の位置に変換する */
-void CS_turn_base(double *x, double *y, double *theta)
+void CS_turn_base(double* x, double* y, double* theta)
 {
   double xx, yy;
 
@@ -134,7 +134,7 @@ void CS_turn_base(double *x, double *y, double *theta)
 /*-----------------座標変換まわり-----------------*/
 /* 目的の座標系へひとっとび？ */
 /* 　　　　　　　　　　　　　 */
-void CS_recursive_trans(CSptr target_cs, CSptr now_cs, double *x, double *y, double *theta)
+void CS_recursive_trans(CSptr target_cs, CSptr now_cs, double* x, double* y, double* theta)
 {
   /* 座標系が有効か */
   if (!target_cs || !now_cs)
@@ -170,7 +170,7 @@ void CS_recursive_trans(CSptr target_cs, CSptr now_cs, double *x, double *y, dou
 }
 
 /* 座標系を一段下る（1段前の座標系での座標に変換する） */
-void inv_trans_cs(CSptr target_cs, double *x, double *y, double *theta)
+void inv_trans_cs(CSptr target_cs, double* x, double* y, double* theta)
 {
   double xx, yy;
   if (target_cs)
@@ -184,7 +184,7 @@ void inv_trans_cs(CSptr target_cs, double *x, double *y, double *theta)
 }
 
 /* 座標系を一段あがる（一段後での座標系での座標に変換する） */
-void trans_cs(CSptr target_cs, double *x, double *y, double *theta)
+void trans_cs(CSptr target_cs, double* x, double* y, double* theta)
 {
   double xx, yy;
   if (target_cs)
@@ -198,7 +198,7 @@ void trans_cs(CSptr target_cs, double *x, double *y, double *theta)
 }
 
 /* 上にあがるだけ */
-void trace_trans_cs(CSptr target_cs, double *x, double *y, double *theta)
+void trace_trans_cs(CSptr target_cs, double* x, double* y, double* theta)
 {
   if (target_cs == CSroot_ptr)
     return;

auxlib/libodomssm.c

@@ -44,20 +44,20 @@ int OdometrySSM_init(void)
 }
 
 /* 線形補間で位置取得 */
-int SSM_get_pos_GL_time(double time, double *x, double *y, double *theta)
+int SSM_get_pos_GL_time(double time, double* x, double* y, double* theta)
 {
   Spur_Odometry odm1, odm2;
   int tid, tid2;
   double time1, time2;
   double rate;
 
-  tid = readSSM_time(odm_gl_sid, (char *)&odm1, time, &time1);
-  tid2 = readSSM(odm_gl_sid, (char *)&odm2, &time2, tid + 1);
+  tid = readSSM_time(odm_gl_sid, (char*)&odm1, time, &time1);
+  tid2 = readSSM(odm_gl_sid, (char*)&odm2, &time2, tid + 1);
   if (tid2 < 0)
   { /* 次のがなければ前のでなんとか。 */
     time2 = time1;
     odm2 = odm1;
-    tid = readSSM(odm_gl_sid, (char *)&odm1, &time1, tid - 1);
+    tid = readSSM(odm_gl_sid, (char*)&odm1, &time1, tid - 1);
   }
   if (fabs(time2 - time1) < 0.000001)
     return 0;
@@ -83,20 +83,20 @@ int SSM_get_pos_GL_time(double time, double *x, double *y, double *theta)
 }
 
 /* 線形補間で位置取得 */
-int SSM_get_pos_BS_time(double time, double *x, double *y, double *theta)
+int SSM_get_pos_BS_time(double time, double* x, double* y, double* theta)
 {
   Spur_Odometry odm1, odm2;
   int tid, tid2;
   double time1, time2;
   double rate;
 
-  tid = readSSM_time(odm_bs_sid, (char *)&odm1, time, &time1);
-  tid2 = readSSM(odm_bs_sid, (char *)&odm2, &time2, tid + 1);
+  tid = readSSM_time(odm_bs_sid, (char*)&odm1, time, &time1);
+  tid2 = readSSM(odm_bs_sid, (char*)&odm2, &time2, tid + 1);
   if (tid2 < 0)
   { /* 次のがなければ前のでなんとか。 */
     time2 = time1;
     odm2 = odm1;
-    tid = readSSM(odm_bs_sid, (char *)&odm1, &time1, tid - 1);
+    tid = readSSM(odm_bs_sid, (char*)&odm1, &time1, tid - 1);
   }
   if (fabs(time2 - time1) < 0.000001)
     return 0;
@@ -122,13 +122,13 @@ int SSM_get_pos_BS_time(double time, double *x, double *y, double *theta)
 }
 
 /* */
-double SSM_get_pos_GL(double *x, double *y, double *theta)
+double SSM_get_pos_GL(double* x, double* y, double* theta)
 {
   Spur_Odometry odm1;
   int tid;
   double time1;
 
-  tid = readSSM(odm_gl_sid, (char *)&odm1, &time1, -1);
+  tid = readSSM(odm_gl_sid, (char*)&odm1, &time1, -1);
   if (tid < 0)
     return -1.0;
   *x = odm1.x;
@@ -139,13 +139,13 @@ double SSM_get_pos_GL(double *x, double *y, double *theta)
 }
 
 /* */
-double SSM_get_pos_BS(double *x, double *y, double *theta)
+double SSM_get_pos_BS(double* x, double* y, double* theta)
 {
   Spur_Odometry odm1;
   int tid;
   double time1;
 
-  tid = readSSM(odm_bs_sid, (char *)&odm1, &time1, -1);
+  tid = readSSM(odm_bs_sid, (char*)&odm1, &time1, -1);
   if (tid < 0)
     return -1.0;
 
@@ -157,13 +157,13 @@ double SSM_get_pos_BS(double *x, double *y, double *theta)
 }
 
 /* */
-double SSM_get_vel(double *v, double *w)
+double SSM_get_vel(double* v, double* w)
 {
   Spur_Odometry odm1;
   int tid;
   double time1;
 
-  tid = readSSM(odm_bs_sid, (char *)&odm1, &time1, -1);
+  tid = readSSM(odm_bs_sid, (char*)&odm1, &time1, -1);
   if (tid < 0)
     return -1.0;
 

auxlib/odometry-ssm.h

@@ -22,15 +22,16 @@
 #define __AUXLIB_ODOMETRY_SSM_H
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif  // __cplusplus
 
 int OdometrySSM_init(void);
-int SSM_get_pos_GL_time(double time, double *x, double *y, double *theta);
-int SSM_get_pos_BS_time(double time, double *x, double *y, double *theta);
-double SSM_get_pos_GL(double *x, double *y, double *theta);
-double SSM_get_pos_BS(double *x, double *y, double *theta);
-double SSM_get_vel(double *v, double *w);
+int SSM_get_pos_GL_time(double time, double* x, double* y, double* theta);
+int SSM_get_pos_BS_time(double time, double* x, double* y, double* theta);
+double SSM_get_pos_GL(double* x, double* y, double* theta);
+double SSM_get_pos_BS(double* x, double* y, double* theta);
+double SSM_get_vel(double* v, double* w);
 int SSM_near_pos_GL(double x, double y, double r);
 int SSM_near_ang(double th, double d);
 int SSM_over_line(double x, double y, double theta);

include/adinput.h

@@ -26,10 +26,10 @@
 #include <strings.h>
 #include <unistd.h>
 
-int process_addata(unsigned char *buf, int len);
-const int *get_addataptr();
+int process_addata(unsigned char* buf, int len);
+const int* get_addataptr();
 int get_addata(int num);
-int admask_receive(char *buf, int len, double receive_time, void *data);
+int admask_receive(char* buf, int len, double receive_time, void* data);
 int set_admask(unsigned char mask);
 int set_diomask(unsigned char enable);
 int get_ad_num(void);