update style to match latest uncrustify

rcl/include/rcl/time.h

@@ -399,8 +399,8 @@ rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
+rcl_difference_times(
-  rcl_duration_t * delta);
+  rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta);
 
 /// Fill the time point with the current value of the associated clock.
 /**
@@ -466,8 +466,8 @@ rcl_disable_ros_time_override(rcl_time_source_t * time_source);
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
+rcl_is_enabled_ros_time_override(
-  bool * is_enabled);
+  rcl_time_source_t * time_source, bool * is_enabled);
 
 /// Set the current time for this `RCL_ROS_TIME` time source.
 /**
@@ -485,8 +485,8 @@ rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_set_ros_time_override(rcl_time_source_t * time_source,
+rcl_set_ros_time_override(
-  rcl_time_point_value_t time_value);
+  rcl_time_source_t * time_source, rcl_time_point_value_t time_value);
 
 #if __cplusplus
 }

rcl/src/rcl/time.c

@@ -286,8 +286,8 @@ rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
 }
 
 rcl_ret_t
-rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
+rcl_difference_times(
-  rcl_duration_t * delta)
+  rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta)
 {
   if (start->time_source->type != finish->time_source->type) {
     RCL_SET_ERROR_MSG(

rcl/test/memory_tools/test_memory_tools.cpp

@@ -20,17 +20,20 @@
  */
 TEST(TestMemoryTools, test_allocation_checking_tools) {
   size_t unexpected_mallocs = 0;
-  auto on_unexpected_malloc = ([&unexpected_mallocs]() {
+  auto on_unexpected_malloc = (
+    [&unexpected_mallocs]() {
       unexpected_mallocs++;
     });
   set_on_unexpected_malloc_callback(on_unexpected_malloc);
   size_t unexpected_reallocs = 0;
-  auto on_unexpected_realloc = ([&unexpected_reallocs]() {
+  auto on_unexpected_realloc = (
+    [&unexpected_reallocs]() {
       unexpected_reallocs++;
     });
   set_on_unexpected_realloc_callback(on_unexpected_realloc);
   size_t unexpected_frees = 0;
-  auto on_unexpected_free = ([&unexpected_frees]() {
+  auto on_unexpected_free = (
+    [&unexpected_frees]() {
       unexpected_frees++;
     });
   set_on_unexpected_free_callback(on_unexpected_free);

rcl/test/rcl/client_fixture.cpp

@@ -66,7 +66,8 @@ wait_for_client_to_be_ready(
     RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
       if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
         throw std::runtime_error("error while waiting for client");
@@ -115,7 +116,8 @@ int main(int argc, char ** argv)
       RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
-    auto node_exit = make_scope_exit([&main_ret, &node]() {
+    auto node_exit = make_scope_exit(
+      [&main_ret, &node]() {
         if (rcl_node_fini(&node) != RCL_RET_OK) {
           RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
@@ -134,7 +136,8 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    auto client_exit = make_scope_exit([&client, &main_ret, &node]() {
+    auto client_exit = make_scope_exit(
+      [&client, &main_ret, &node]() {
         if (rcl_client_fini(&client, &node)) {
           RCUTILS_LOG_ERROR("Error in client fini: %s", rcl_get_error_string_safe())
           main_ret = -1;

rcl/test/rcl/service_fixture.cpp

@@ -40,7 +40,8 @@ wait_for_service_to_be_ready(
     RCUTILS_LOG_ERROR("Error in wait set init: %s", rcl_get_error_string_safe())
     return false;
   }
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
       if (rcl_wait_set_fini(&wait_set) != RCL_RET_OK) {
         RCUTILS_LOG_ERROR("Error in wait set fini: %s", rcl_get_error_string_safe())
         throw std::runtime_error("error waiting for service to be ready");
@@ -89,7 +90,8 @@ int main(int argc, char ** argv)
       RCUTILS_LOG_ERROR("Error in node init: %s", rcl_get_error_string_safe())
       return -1;
     }
-    auto node_exit = make_scope_exit([&main_ret, &node]() {
+    auto node_exit = make_scope_exit(
+      [&main_ret, &node]() {
         if (rcl_node_fini(&node) != RCL_RET_OK) {
           RCUTILS_LOG_ERROR("Error in node fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
@@ -108,7 +110,8 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    auto service_exit = make_scope_exit([&main_ret, &service, &node]() {
+    auto service_exit = make_scope_exit(
+      [&main_ret, &service, &node]() {
         if (rcl_service_fini(&service, &node)) {
           RCUTILS_LOG_ERROR("Error in service fini: %s", rcl_get_error_string_safe())
           main_ret = -1;
@@ -118,7 +121,8 @@ int main(int argc, char ** argv)
     // Initialize a response.
     example_interfaces__srv__AddTwoInts_Response service_response;
     example_interfaces__srv__AddTwoInts_Response__init(&service_response);
-    auto response_exit = make_scope_exit([&service_response]() {
+    auto response_exit = make_scope_exit(
+      [&service_response]() {
         example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
       });
 
@@ -132,7 +136,8 @@ int main(int argc, char ** argv)
     // Take the pending request.
     example_interfaces__srv__AddTwoInts_Request service_request;
     example_interfaces__srv__AddTwoInts_Request__init(&service_request);
-    auto request_exit = make_scope_exit([&service_request]() {
+    auto request_exit = make_scope_exit(
+      [&service_request]() {
         example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
       });
     rmw_request_id_t header;

rcl/test/rcl/test_client.cpp

@@ -84,7 +84,8 @@ TEST_F(TestClientFixture, test_client_nominal) {
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   EXPECT_EQ(strcmp(rcl_client_get_service_name(&client), expected_topic_name), 0);
 
-  auto client_exit = make_scope_exit([&client, this]() {
+  auto client_exit = make_scope_exit(
+    [&client, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();

rcl/test/rcl/test_graph.cpp

@@ -421,7 +421,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
   // Create a thread to sleep for a time, then create a publisher, sleep more, then a subscriber,
   // sleep more, destroy the subscriber, sleep more, and then destroy the publisher.
   std::promise<bool> topic_changes_promise;
-  std::thread topic_thread([this, &topic_changes_promise]() {
+  std::thread topic_thread(
+    [this, &topic_changes_promise]() {
       // sleep
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
       // create the publisher
@@ -493,7 +494,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
   rcl_client_options_t client_options = rcl_client_get_default_options();
   ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto client_exit = make_scope_exit([&client, this]() {
+  auto client_exit = make_scope_exit(
+    [&client, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -561,7 +563,8 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
     rcl_service_options_t service_options = rcl_service_get_default_options();
     ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-    auto service_exit = make_scope_exit([&service, this]() {
+    auto service_exit = make_scope_exit(
+      [&service, this]() {
         stop_memory_checking();
         rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
         EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();

rcl/test/rcl/test_guard_condition.cpp

@@ -64,7 +64,8 @@ TEST_F(
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
   // Setup automatic rcl_shutdown()
-  auto rcl_shutdown_exit = make_scope_exit([]() {
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_shutdown();
       ASSERT_EQ(RCL_RET_OK, ret);
@@ -79,7 +80,8 @@ TEST_F(
   ret = rcl_guard_condition_init(&guard_condition, default_options);
   ASSERT_EQ(RCL_RET_OK, ret);
   // Setup automatic finalization of guard condition.
-  auto rcl_guard_condition_exit = make_scope_exit([&guard_condition]() {
+  auto rcl_guard_condition_exit = make_scope_exit(
+    [&guard_condition]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_guard_condition_fini(&guard_condition);
       EXPECT_EQ(RCL_RET_OK, ret);
@@ -142,7 +144,8 @@ TEST_F(
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
       rcl_ret_t ret = rcl_shutdown();
       ASSERT_EQ(RCL_RET_OK, ret);
     });

rcl/test/rcl/test_node.cpp

@@ -88,7 +88,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
     // This is the normal check (not windows and windows if not opensplice)
     ASSERT_EQ(RCL_RET_OK, ret);
   }
-  auto rcl_invalid_node_exit = make_scope_exit([&invalid_node]() {
+  auto rcl_invalid_node_exit = make_scope_exit(
+    [&invalid_node]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_node_fini(&invalid_node);
       EXPECT_EQ(RCL_RET_OK, ret);
@@ -97,7 +98,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
   ASSERT_EQ(RCL_RET_OK, ret);
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_shutdown();
       ASSERT_EQ(RCL_RET_OK, ret);
@@ -108,7 +110,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_accessors)
   rcl_node_t node = rcl_get_zero_initialized_node();
   ret = rcl_node_init(&node, name, namespace_, &default_options);
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_node_exit = make_scope_exit([&node]() {
+  auto rcl_node_exit = make_scope_exit(
+    [&node]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_node_fini(&node);
       EXPECT_EQ(RCL_RET_OK, ret);
@@ -311,7 +314,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_life_cycle)
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
       rcl_ret_t ret = rcl_shutdown();
       ASSERT_EQ(RCL_RET_OK, ret);
     });
@@ -401,7 +405,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_name_restri
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
       rcl_ret_t ret = rcl_shutdown();
       ASSERT_EQ(RCL_RET_OK, ret);
     });
@@ -461,7 +466,8 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_namespace_r
   // Initialize rcl with rcl_init().
   ret = rcl_init(0, nullptr, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret);
-  auto rcl_shutdown_exit = make_scope_exit([]() {
+  auto rcl_shutdown_exit = make_scope_exit(
+    []() {
       rcl_ret_t ret = rcl_shutdown();
       ASSERT_EQ(RCL_RET_OK, ret);
     });

rcl/test/rcl/test_publisher.cpp

@@ -93,7 +93,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -118,7 +119,8 @@ TEST_F(CLASSNAME(TestPublisherFixture, RMW_IMPLEMENTATION), test_publisher_nomin
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic_name, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();

rcl/test/rcl/test_service.cpp

@@ -84,7 +84,8 @@ wait_for_service_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 0, 0, 1, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
       ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -128,7 +129,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
 
   // Check that the service name matches what we assigned.
   EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), expected_topic), 0);
-  auto service_exit = make_scope_exit([&service, this]() {
+  auto service_exit = make_scope_exit(
+    [&service, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -138,7 +140,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   rcl_client_options_t client_options = rcl_client_get_default_options();
   ret = rcl_client_init(&client, this->node_ptr, ts, topic, &client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto client_exit = make_scope_exit([&client, this]() {
+  auto client_exit = make_scope_exit(
+    [&client, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -171,7 +174,8 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
     // Initialize a response.
     example_interfaces__srv__AddTwoInts_Response service_response;
     example_interfaces__srv__AddTwoInts_Response__init(&service_response);
-    auto msg_exit = make_scope_exit([&service_response]() {
+    auto msg_exit = make_scope_exit(
+      [&service_response]() {
         stop_memory_checking();
         example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
       });

rcl/test/rcl/test_subscription.cpp

@@ -85,7 +85,8 @@ wait_for_subscription_to_be_ready(
   rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
   rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, rcl_get_default_allocator());
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto wait_set_exit = make_scope_exit([&wait_set]() {
+  auto wait_set_exit = make_scope_exit(
+    [&wait_set]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
       ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -134,7 +135,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -143,7 +145,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto subscription_exit = make_scope_exit([&subscription, this]() {
+  auto subscription_exit = make_scope_exit(
+    [&subscription, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -167,7 +170,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   {
     std_msgs__msg__Int64 msg;
     std_msgs__msg__Int64__init(&msg);
-    auto msg_exit = make_scope_exit([&msg]() {
+    auto msg_exit = make_scope_exit(
+      [&msg]() {
         stop_memory_checking();
         std_msgs__msg__Int64__fini(&msg);
       });
@@ -188,7 +192,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
   ret = rcl_publisher_init(&publisher, this->node_ptr, ts, topic, &publisher_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto publisher_exit = make_scope_exit([&publisher, this]() {
+  auto publisher_exit = make_scope_exit(
+    [&publisher, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_publisher_fini(&publisher, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -197,7 +202,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
   ret = rcl_subscription_init(&subscription, this->node_ptr, ts, topic, &subscription_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto subscription_exit = make_scope_exit([&subscription, this]() {
+  auto subscription_exit = make_scope_exit(
+    [&subscription, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_subscription_fini(&subscription, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -221,7 +227,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
   {
     std_msgs__msg__String msg;
     std_msgs__msg__String__init(&msg);
-    auto msg_exit = make_scope_exit([&msg]() {
+    auto msg_exit = make_scope_exit(
+      [&msg]() {
         stop_memory_checking();
         std_msgs__msg__String__fini(&msg);
       });

rcl/test/rcl/test_wait.cpp

@@ -109,7 +109,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
   ret = rcl_wait_set_add_timer(&wait_set, &timer);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &timer]() {
+  auto scope_exit = make_scope_exit(
+    [&guard_cond, &wait_set, &timer]() {
       rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
       ret = rcl_wait_set_fini(&wait_set);
@@ -142,7 +143,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&guard_cond, &wait_set]() {
+  auto scope_exit = make_scope_exit(
+    [&guard_cond, &wait_set]() {
       rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
       ret = rcl_wait_set_fini(&wait_set);
@@ -181,7 +183,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
   ret = rcl_wait_set_add_timer(&wait_set, &canceled_timer);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &canceled_timer]() {
+  auto scope_exit = make_scope_exit(
+    [&guard_cond, &wait_set, &canceled_timer]() {
       rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
       ret = rcl_wait_set_fini(&wait_set);
@@ -292,7 +295,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), multi_wait_set_threade
     test_set.thread_id = 0;
   }
   // Setup safe tear-down.
-  auto scope_exit = make_scope_exit([&test_sets]() {
+  auto scope_exit = make_scope_exit(
+    [&test_sets]() {
       for (auto & test_set : test_sets) {
         rcl_ret_t ret = rcl_guard_condition_fini(&test_set.guard_condition);
         EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -349,7 +353,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
   ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-  auto scope_exit = make_scope_exit([&wait_set, &guard_cond]() {
+  auto scope_exit = make_scope_exit(
+    [&wait_set, &guard_cond]() {
       rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
       ret = rcl_guard_condition_fini(&guard_cond);
@@ -361,7 +366,8 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), guard_condition) {
   int64_t timeout = -1;
 
   std::chrono::nanoseconds trigger_diff;
-  std::thread trigger_thread([&p, &guard_cond, &trigger_diff]() {
+  std::thread trigger_thread(
+    [&p, &guard_cond, &trigger_diff]() {
       std::chrono::steady_clock::time_point before_trigger = std::chrono::steady_clock::now();
       std::this_thread::sleep_for(std::chrono::milliseconds(10));
       rcl_ret_t ret = rcl_trigger_guard_condition(&guard_cond);

rcl/test/test_namespace.cpp

@@ -86,7 +86,8 @@ TEST_F(TestNamespaceFixture, test_client_server) {
   rcl_service_options_t service_options = rcl_service_get_default_options();
   ret = rcl_service_init(&service, this->node_ptr, ts, service_name, &service_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto service_exit = make_scope_exit([&service, this]() {
+  auto service_exit = make_scope_exit(
+    [&service, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -97,7 +98,8 @@ TEST_F(TestNamespaceFixture, test_client_server) {
   ret = rcl_client_init(
     &unmatched_client, this->node_ptr, ts, unmatched_client_name, &unmatched_client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto unmatched_client_exit = make_scope_exit([&unmatched_client, this]() {
+  auto unmatched_client_exit = make_scope_exit(
+    [&unmatched_client, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_client_fini(&unmatched_client, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
@@ -119,7 +121,8 @@ TEST_F(TestNamespaceFixture, test_client_server) {
   ret = rcl_client_init(
     &matched_client, this->node_ptr, ts, matched_client_name, &matched_client_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  auto matched_client_exit = make_scope_exit([&matched_client, this]() {
+  auto matched_client_exit = make_scope_exit(
+    [&matched_client, this]() {
       stop_memory_checking();
       rcl_ret_t ret = rcl_client_fini(&matched_client, this->node_ptr);
       EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();

rcl_lifecycle/src/default_state_machine.c

@@ -37,122 +37,147 @@ rcl_lifecycle_transition_t * empty_transition = NULL;
 unsigned int empty_transition_size = 0;
 
 // Primary States
-const rcl_lifecycle_state_t rcl_state_unknown =
+const rcl_lifecycle_state_t rcl_state_unknown = {
-{"unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN,
+  "unknown", lifecycle_msgs__msg__State__PRIMARY_STATE_UNKNOWN, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_unconfigured =
+const rcl_lifecycle_state_t rcl_state_unconfigured = {
-{"unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
+  "unconfigured", lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_inactive =
+const rcl_lifecycle_state_t rcl_state_inactive = {
-{"inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
+  "inactive", lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_active =
+const rcl_lifecycle_state_t rcl_state_active = {
-{"active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
+  "active", lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_finalized =
+const rcl_lifecycle_state_t rcl_state_finalized = {
-{"finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED,
+  "finalized", lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED, NULL, NULL, 0
- NULL, NULL, 0};
+};
 // Transition States
-const rcl_lifecycle_state_t rcl_state_configuring =
+const rcl_lifecycle_state_t rcl_state_configuring = {
-{"configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
+  "configuring", lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_cleaningup =
+const rcl_lifecycle_state_t rcl_state_cleaningup = {
-{"cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
+  "cleaningup", lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_shuttingdown =
+const rcl_lifecycle_state_t rcl_state_shuttingdown = {
-{"shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
+  "shuttingdown", lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_activating =
+const rcl_lifecycle_state_t rcl_state_activating = {
-{"activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
+  "activating", lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_deactivating =
+const rcl_lifecycle_state_t rcl_state_deactivating = {
-{"deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
+  "deactivating", lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING, NULL, NULL, 0
- NULL, NULL, 0};
+};
-const rcl_lifecycle_state_t rcl_state_errorprocessing =
+const rcl_lifecycle_state_t rcl_state_errorprocessing = {
-{"errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
+  "errorprocessing", lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING, NULL, NULL, 0
- NULL, NULL, 0};
+};
 
 // Transitions
-const rcl_lifecycle_transition_t rcl_transition_configure =
+const rcl_lifecycle_transition_t rcl_transition_configure = {
-{"configure", lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
+  "configure", lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
- &rcl_state_unconfigured, &rcl_state_configuring};
+  &rcl_state_unconfigured, &rcl_state_configuring
-const rcl_lifecycle_transition_t rcl_transition_configure_success =
+};
-{"configure_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
+const rcl_lifecycle_transition_t rcl_transition_configure_success = {
- &rcl_state_configuring, &rcl_state_inactive};
+  "configure_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
-const rcl_lifecycle_transition_t rcl_transition_configure_failure =
+  &rcl_state_configuring, &rcl_state_inactive
-{"configure_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
+};
- &rcl_state_configuring, &rcl_state_unconfigured};
+const rcl_lifecycle_transition_t rcl_transition_configure_failure = {
-const rcl_lifecycle_transition_t rcl_transition_configure_error =
+  "configure_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
-{"configure_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
+  &rcl_state_configuring, &rcl_state_unconfigured
- &rcl_state_configuring, &rcl_state_errorprocessing};
+};
+const rcl_lifecycle_transition_t rcl_transition_configure_error = {
+  "configure_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
+  &rcl_state_configuring, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_cleanup =
+const rcl_lifecycle_transition_t rcl_transition_cleanup = {
-{"cleanup", lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
+  "cleanup", lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
- &rcl_state_inactive, &rcl_state_cleaningup};
+  &rcl_state_inactive, &rcl_state_cleaningup
-const rcl_lifecycle_transition_t rcl_transition_cleanup_success =
+};
-{"cleanup_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
+const rcl_lifecycle_transition_t rcl_transition_cleanup_success = {
- &rcl_state_cleaningup, &rcl_state_unconfigured};
+  "cleanup_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
-const rcl_lifecycle_transition_t rcl_transition_cleanup_failure =
+  &rcl_state_cleaningup, &rcl_state_unconfigured
-{"cleanup_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
+};
- &rcl_state_cleaningup, &rcl_state_inactive};
+const rcl_lifecycle_transition_t rcl_transition_cleanup_failure = {
-const rcl_lifecycle_transition_t rcl_transition_cleanup_error =
+  "cleanup_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
-{"cleanup_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
+  &rcl_state_cleaningup, &rcl_state_inactive
- &rcl_state_cleaningup, &rcl_state_errorprocessing};
+};
+const rcl_lifecycle_transition_t rcl_transition_cleanup_error = {
+  "cleanup_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
+  &rcl_state_cleaningup, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_activate =
+const rcl_lifecycle_transition_t rcl_transition_activate = {
-{"activate", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
+  "activate", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
- &rcl_state_inactive, &rcl_state_activating};
+  &rcl_state_inactive, &rcl_state_activating
-const rcl_lifecycle_transition_t rcl_transition_activate_success =
+};
-{"activate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
+const rcl_lifecycle_transition_t rcl_transition_activate_success = {
- &rcl_state_activating, &rcl_state_active};
+  "activate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
-const rcl_lifecycle_transition_t rcl_transition_activate_failure =
+  &rcl_state_activating, &rcl_state_active
-{"activate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
+};
- &rcl_state_activating, &rcl_state_inactive};
+const rcl_lifecycle_transition_t rcl_transition_activate_failure = {
-const rcl_lifecycle_transition_t rcl_transition_activate_error =
+  "activate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
-{"activate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
+  &rcl_state_activating, &rcl_state_inactive
- &rcl_state_activating, &rcl_state_errorprocessing};
+};
+const rcl_lifecycle_transition_t rcl_transition_activate_error = {
+  "activate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
+  &rcl_state_activating, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_deactivate =
+const rcl_lifecycle_transition_t rcl_transition_deactivate = {
-{"deactivate", lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
+  "deactivate", lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
- &rcl_state_active, &rcl_state_deactivating};
+  &rcl_state_active, &rcl_state_deactivating
-const rcl_lifecycle_transition_t rcl_transition_deactivate_success =
+};
-{"deactivate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
+const rcl_lifecycle_transition_t rcl_transition_deactivate_success = {
- &rcl_state_deactivating, &rcl_state_inactive};
+  "deactivate_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
-const rcl_lifecycle_transition_t rcl_transition_deactivate_failure =
+  &rcl_state_deactivating, &rcl_state_inactive
-{"deactivate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
+};
- &rcl_state_deactivating, &rcl_state_active};
+const rcl_lifecycle_transition_t rcl_transition_deactivate_failure = {
-const rcl_lifecycle_transition_t rcl_transition_deactivate_error =
+  "deactivate_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
-{"deactivate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
+  &rcl_state_deactivating, &rcl_state_active
- &rcl_state_deactivating, &rcl_state_errorprocessing};
+};
+const rcl_lifecycle_transition_t rcl_transition_deactivate_error = {
+  "deactivate_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
+  &rcl_state_deactivating, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_unconfigured_shutdown =
+const rcl_lifecycle_transition_t rcl_transition_unconfigured_shutdown = {
-{"unconfigured_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
+  "unconfigured_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
- &rcl_state_unconfigured, &rcl_state_shuttingdown};
+  &rcl_state_unconfigured, &rcl_state_shuttingdown
-const rcl_lifecycle_transition_t rcl_transition_inactive_shutdown =
+};
-{"inactive_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
+const rcl_lifecycle_transition_t rcl_transition_inactive_shutdown = {
- &rcl_state_inactive, &rcl_state_shuttingdown};
+  "inactive_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
-const rcl_lifecycle_transition_t rcl_transition_active_shutdown =
+  &rcl_state_inactive, &rcl_state_shuttingdown
-{"active_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
+};
- &rcl_state_active, &rcl_state_shuttingdown};
+const rcl_lifecycle_transition_t rcl_transition_active_shutdown = {
-const rcl_lifecycle_transition_t rcl_transition_shutdown_success =
+  "active_shutdown", lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
-{"shutdown_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
+  &rcl_state_active, &rcl_state_shuttingdown
- &rcl_state_shuttingdown, &rcl_state_finalized};
+};
-const rcl_lifecycle_transition_t rcl_transition_shutdown_failure =
+const rcl_lifecycle_transition_t rcl_transition_shutdown_success = {
-{"shutdown_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
+  "shutdown_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
- &rcl_state_shuttingdown, &rcl_state_finalized};
+  &rcl_state_shuttingdown, &rcl_state_finalized
-const rcl_lifecycle_transition_t rcl_transition_shutdown_error =
+};
-{"shutdown_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
+const rcl_lifecycle_transition_t rcl_transition_shutdown_failure = {
- &rcl_state_shuttingdown, &rcl_state_errorprocessing};
+  "shutdown_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
+  &rcl_state_shuttingdown, &rcl_state_finalized
+};
+const rcl_lifecycle_transition_t rcl_transition_shutdown_error = {
+  "shutdown_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
+  &rcl_state_shuttingdown, &rcl_state_errorprocessing
+};
 
-const rcl_lifecycle_transition_t rcl_transition_error_success =
+const rcl_lifecycle_transition_t rcl_transition_error_success = {
-{"errorprocessing_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
+  "errorprocessing_success", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
- &rcl_state_errorprocessing, &rcl_state_unconfigured};
+  &rcl_state_errorprocessing, &rcl_state_unconfigured
-const rcl_lifecycle_transition_t rcl_transition_error_failure =
+};
-{"errorprocessing_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
+const rcl_lifecycle_transition_t rcl_transition_error_failure = {
- &rcl_state_errorprocessing, &rcl_state_finalized};
+  "errorprocessing_failure", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
-const rcl_lifecycle_transition_t rcl_transition_error_error =
+  &rcl_state_errorprocessing, &rcl_state_finalized
-{"errorprocessing_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
+};
- &rcl_state_errorprocessing, &rcl_state_finalized};
+const rcl_lifecycle_transition_t rcl_transition_error_error = {
+  "errorprocessing_error", lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
+  &rcl_state_errorprocessing, &rcl_state_finalized
+};
 
 // default implementation as despicted on
 // design.ros2.org