Simplify formatting code with https://github.com/fmtlib (moveit#499)

* Simplify formatting code with https://github.com/fmtlib * Update to clang-format-12
ubi-agni · May 25, 2024 · 7666f73 · 7666f73
1 parent a0c0064
commit 7666f73
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Showing 23 changed files with 170 additions and 184 deletions.
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
@@ -16,8 +16,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-      - name: Install clang-format-10
-        run: sudo apt-get install clang-format-10
+      - name: Install clang-format-12
+        run: sudo apt-get install clang-format-12
       - uses: rhaschke/[email protected]
         with:
           distro: noetic

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -39,7 +39,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-12
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ["-fallback-style=none", "-i"]

diff --git a/capabilities/CMakeLists.txt b/capabilities/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.1.3)
 project(moveit_task_constructor_capabilities)
 
+find_package(fmt REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   actionlib
   moveit_core
@@ -32,7 +33,7 @@ add_library(${PROJECT_NAME}
 )
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} fmt::fmt)
 
 install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

diff --git a/capabilities/package.xml b/capabilities/package.xml
@@ -12,6 +12,7 @@
 
 	<buildtool_depend>catkin</buildtool_depend>
 
+	<depend>fmt</depend>
 	<depend>moveit_core</depend>
 	<depend>moveit_ros_move_group</depend>
 	<depend>actionlib</depend>

diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
@@ -43,6 +43,7 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit/utils/message_checks.h>
 #include <moveit/utils/moveit_error_code.h>
+#include <fmt/format.h>
 
 namespace {
 
@@ -152,8 +153,9 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 			if (!joint_names.empty()) {
 				group = findJointModelGroup(*model, joint_names);
 				if (!group) {
-					ROS_ERROR_STREAM_NAMED("ExecuteTaskSolution", "Could not find JointModelGroup that actuates {"
-					                                                  << boost::algorithm::join(joint_names, ", ") << "}");
+					ROS_ERROR_STREAM_NAMED(
+					    "ExecuteTaskSolution",
+					    fmt::format("Could not find JointModelGroup that actuates {{{}}}", fmt::join(joint_names, ", ")));
 					return false;
 				}
 				ROS_DEBUG_NAMED("ExecuteTaskSolution", "Using JointModelGroup '%s' for execution",

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.1.3)
 project(moveit_task_constructor_core)
 
 find_package(Boost REQUIRED)
+find_package(fmt REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
 	roslint
 	tf2_eigen

diff --git a/core/include/moveit/task_constructor/stage_p.h b/core/include/moveit/task_constructor/stage_p.h
@@ -44,6 +44,7 @@
 #include <moveit/task_constructor/cost_queue.h>
 
 #include <ros/console.h>
+#include <fmt/core.h>
 
 #include <ostream>
 #include <chrono>
@@ -144,7 +145,7 @@ class StagePrivate
 	void newSolution(const SolutionBasePtr& solution);
 	bool storeFailures() const { return introspection_ != nullptr; }
 	void runCompute() {
-		ROS_DEBUG_STREAM_NAMED("Stage", "Computing stage '" << name() << "'");
+		ROS_DEBUG_STREAM_NAMED("Stage", fmt::format("Computing stage '{}'", name()));
 		auto compute_start_time = std::chrono::steady_clock::now();
 		try {
 			compute();

diff --git a/core/package.xml b/core/package.xml
@@ -19,6 +19,7 @@
 	<build_depend>roslint</build_depend>
 	<exec_depend>roscpp</exec_depend>
 
+	<depend>fmt</depend>
 	<depend>tf2_eigen</depend>
 	<depend>geometry_msgs</depend>
 	<depend>moveit_core</depend>

diff --git a/core/src/CMakeLists.txt b/core/src/CMakeLists.txt
@@ -37,7 +37,7 @@ add_library(${PROJECT_NAME}
 	solvers/pipeline_planner.cpp
 	solvers/multi_planner.cpp
 )
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} fmt::fmt)
 target_include_directories(${PROJECT_NAME}
 	PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
 	PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>