style: Run clang-format on hpp/cpp sources

Author: qzhhhi

src/kernel/visualization.cpp

@@ -50,7 +50,7 @@ struct Visualization::Impl {
         };
     };
 
-    Config config {};
+    Config config { };
     RclcppNode rclcpp { "visual" };
 
     debug::StreamSession session;
@@ -98,7 +98,7 @@ struct Visualization::Impl {
         });
 
         is_initialized = true;
-        return {};
+        return { };
     }
 
     auto initialized() const noexcept { return is_initialized; }

src/module/capturer/common.hpp

@@ -32,12 +32,12 @@ struct Adapter : public Impl, Interface {
     using Config = Impl::Config;
 
     auto configure_yaml(const Yaml& yaml) noexcept -> NormalResult {
-        auto config = Config {};
+        auto config = Config { };
         auto result = config.serialize(yaml);
 
         if (result.has_value()) {
             Impl::configure(config);
-            return {};
+            return { };
         } else {
             return std::unexpected { result.error() };
         }

src/module/capturer/hikcamera.cpp

@@ -8,8 +8,8 @@ auto Hikcamera::wait_image() noexcept -> ImageResult {
         return std::unexpected { captured.error() };
     }
 
-    auto image = std::make_unique<rmcs::Image>();
-    image->mat = std::move(captured->mat);
+    auto image       = std::make_unique<rmcs::Image>();
+    image->mat       = std::move(captured->mat);
     image->timestamp = captured->timestamp;
 
     return image;

src/module/capturer/local_video.cpp

@@ -156,8 +156,8 @@ struct LocalVideo::Impl {
         }
 
         if (!playing && latest_image) {
-            auto image = std::make_unique<Image>();
-            image->mat = latest_image->mat.clone();
+            auto image       = std::make_unique<Image>();
+            image->mat       = latest_image->mat.clone();
             image->timestamp = latest_image->timestamp;
             return image;
         }
@@ -181,9 +181,9 @@ struct LocalVideo::Impl {
         if (frame.empty()) {
             return std::unexpected { "Read frame is empty, possibly due to IO error." };
         }
-        image->mat = std::move(frame);
+        image->mat       = std::move(frame);
         image->timestamp = last_read_time;
-        latest_image = Image {
+        latest_image     = Image {
             .mat       = image->mat.clone(),
             .timestamp = last_read_time,
         };

src/module/capturer/video.cpp

@@ -28,7 +28,7 @@ struct VideoCapturer::Impl final {
     }
 
     auto read(std::chrono::milliseconds) const -> cv::Mat {
-        auto mat = cv::Mat {};
+        auto mat = cv::Mat { };
         if (!capturer_->read(mat))
             throw std::runtime_error { "VideoCapturer: Some errors happened while reading video" };
 

src/module/debug/action_throttler.hpp

@@ -66,7 +66,7 @@ class ActionThrottler {
 
         auto reset() noexcept -> void {
             limit.reset();
-            metronome.last_reach_interval_timestamp = {};
+            metronome.last_reach_interval_timestamp = { };
         }
 
         auto enable() noexcept -> void { limit.enable(); }
@@ -75,7 +75,7 @@ class ActionThrottler {
     struct string_hash {
         using is_transparent = void;
         auto operator()(std::string_view sv) const -> std::size_t {
-            return std::hash<std::string_view> {}(sv);
+            return std::hash<std::string_view> { }(sv);
         }
     };
 

src/module/identifier/adjacency_lightbar.cpp

@@ -244,8 +244,7 @@ auto AdjacencyLightbarFinder::set_armor_thickness(double thickness) -> void {
 }
 
 auto AdjacencyLightbarFinder::find(
-    const cv::Mat& image, const Armor2d& armor2d, const Armor3d& armor3d)
-    -> std::optional<Result> {
+    const cv::Mat& image, const Armor2d& armor2d, const Armor3d& armor3d) -> std::optional<Result> {
     return pimpl->find(image, armor2d, armor3d);
 }
 

src/module/identifier/preprocess.cpp

@@ -5,7 +5,7 @@
 using namespace rmcs;
 
 auto PreProcess::process(const cv::Mat& image, cv::Mat& out) const noexcept -> void {
-    auto gray_image = cv::Mat {};
+    auto gray_image = cv::Mat { };
     cv::cvtColor(image, gray_image, cv::COLOR_BGR2GRAY);
 
     cv::threshold(gray_image, out, binarization_threshold, 255, cv::THRESH_BINARY);

src/utility/coroutine/common.hpp

@@ -51,11 +51,11 @@ struct task {
 
         static constexpr auto initial_suspend() noexcept {
             // Launch immediately
-            return std::suspend_never {};
+            return std::suspend_never { };
         }
         static constexpr auto final_suspend() noexcept {
             // Lazy destory
-            return std::suspend_always {};
+            return std::suspend_always { };
         }
     };
     std::coroutine_handle<promise_type> coroutine_handle;

src/utility/duck_type.hpp

@@ -38,7 +38,7 @@ class duck_array {
     auto at(this auto&& self, std::size_t index, auto&& f) -> void
         requires(std::invocable<decltype(f), Ts&> && ...)
     {
-        self.impl_at(std::forward<decltype(f)>(f), index, std::index_sequence_for<Ts...> {});
+        self.impl_at(std::forward<decltype(f)>(f), index, std::index_sequence_for<Ts...> { });
     }
 
     constexpr auto foreach (this auto&& self, auto&& f) -> void