Robot: Code clean.

cyber/io/poller.cc

@@ -247,7 +247,7 @@ void Poller::ThreadFunc() {
   // block all signals in this thread
   sigset_t signal_set;
   sigfillset(&signal_set);
-  pthread_sigmask(SIG_BLOCK, &signal_set, NULL);
+  pthread_sigmask(SIG_BLOCK, &signal_set, nullptr);
 
   while (!is_shutdown_.load()) {
     HandleChanges();

cyber/py_wrapper/cyber_node_wrap.cc

@@ -53,7 +53,8 @@ PyObject *cyber_new_PyWriter(PyObject *self, PyObject *args) {
   apollo::cyber::PyWriter *writer = new apollo::cyber::PyWriter(
       (std::string const &)*channel_name, (std::string const &)*data_type,
       qos_depth, node);
-  PyObject *pyobj_writer = PyCapsule_New(writer, "apollo_cyber_pywriter", NULL);
+  PyObject *pyobj_writer =
+      PyCapsule_New(writer, "apollo_cyber_pywriter", nullptr);
   return pyobj_writer;
 }
 
@@ -116,7 +117,8 @@ PyObject *cyber_new_PyReader(PyObject *self, PyObject *args) {
   apollo::cyber::PyReader *reader =
       new apollo::cyber::PyReader((std::string const &)*channel_name,
                                   (std::string const &)*data_type, node);
-  PyObject *pyobj_reader = PyCapsule_New(reader, "apollo_cyber_pyreader", NULL);
+  PyObject *pyobj_reader =
+      PyCapsule_New(reader, "apollo_cyber_pyreader", nullptr);
   return pyobj_reader;
 }
 
@@ -206,7 +208,8 @@ PyObject *cyber_new_PyClient(PyObject *self, PyObject *args) {
   apollo::cyber::PyClient *client =
       new apollo::cyber::PyClient((std::string const &)*channel_name,
                                   (std::string const &)*data_type, node);
-  PyObject *pyobj_client = PyCapsule_New(client, "apollo_cyber_pyclient", NULL);
+  PyObject *pyobj_client =
+      PyCapsule_New(client, "apollo_cyber_pyclient", nullptr);
   return pyobj_client;
 }
 
@@ -272,7 +275,7 @@ PyObject *cyber_new_PyService(PyObject *self, PyObject *args) {
       new apollo::cyber::PyService((std::string const &)*channel_name,
                                    (std::string const &)*data_type, node);
   PyObject *pyobj_service =
-      PyCapsule_New(service, "apollo_cyber_pyservice", NULL);
+      PyCapsule_New(service, "apollo_cyber_pyservice", nullptr);
   return pyobj_service;
 }
 
@@ -363,7 +366,7 @@ PyObject *cyber_new_PyNode(PyObject *self, PyObject *args) {
 
   apollo::cyber::PyNode *node =
       new apollo::cyber::PyNode((std::string const &)node_name);
-  PyObject *pyobj_node = PyCapsule_New(node, "apollo_cyber_pynode", NULL);
+  PyObject *pyobj_node = PyCapsule_New(node, "apollo_cyber_pynode", nullptr);
   return pyobj_node;
 }
 
@@ -408,7 +411,8 @@ PyObject *cyber_PyNode_create_writer(PyObject *self, PyObject *args) {
     AERROR << "cyber_PyNode_create_writer:writer is null!";
     return Py_None;
   }
-  PyObject *pyobj_writer = PyCapsule_New(writer, "apollo_cyber_pywriter", NULL);
+  PyObject *pyobj_writer =
+      PyCapsule_New(writer, "apollo_cyber_pywriter", nullptr);
   return pyobj_writer;
 }
 
@@ -434,7 +438,8 @@ PyObject *cyber_PyNode_create_reader(PyObject *self, PyObject *args) {
       (apollo::cyber::PyReader *)(node->create_reader(
           (std::string const &)channel_name, (std::string const &)type_name));
 
-  PyObject *pyobj_reader = PyCapsule_New(reader, "apollo_cyber_pyreader", NULL);
+  PyObject *pyobj_reader =
+      PyCapsule_New(reader, "apollo_cyber_pyreader", nullptr);
   return pyobj_reader;
 }
 
@@ -459,7 +464,8 @@ PyObject *cyber_PyNode_create_client(PyObject *self, PyObject *args) {
   apollo::cyber::PyClient *client =
       (apollo::cyber::PyClient *)(node->create_client(
           (std::string const &)channel_name, (std::string const &)type_name));
-  PyObject *pyobj_client = PyCapsule_New(client, "apollo_cyber_pyclient", NULL);
+  PyObject *pyobj_client =
+      PyCapsule_New(client, "apollo_cyber_pyclient", nullptr);
 
   return pyobj_client;
 }
@@ -487,7 +493,7 @@ PyObject *cyber_PyNode_create_service(PyObject *self, PyObject *args) {
       (apollo::cyber::PyService *)(node->create_service(
           (std::string const &)channel_name, (std::string const &)type_name));
   PyObject *pyobj_service =
-      PyCapsule_New(service, "apollo_cyber_pyservice", NULL);
+      PyCapsule_New(service, "apollo_cyber_pyservice", nullptr);
   return pyobj_service;
 }
 
@@ -578,7 +584,7 @@ PyObject *cyber_test1(PyObject *self, PyObject *args) {
 
   student *stu = cyber_student();
   // ptr->pyobj
-  PyObject *py_stu = PyCapsule_New(stu, "student", NULL);
+  PyObject *py_stu = PyCapsule_New(stu, "student", nullptr);
   AINFO << "capsule name->" << PyCapsule_GetName(py_stu);
 
   AINFO << "===========================";
@@ -586,7 +592,7 @@ PyObject *cyber_test1(PyObject *self, PyObject *args) {
   std::vector<std::string> *strPtrV = new std::vector<std::string>;
   strPtrV->push_back("ywf");
   strPtrV->push_back("lj");
-  PyObject *py_stu1 = PyCapsule_New(strPtrV, "studentptr", NULL);
+  PyObject *py_stu1 = PyCapsule_New(strPtrV, "studentptr", nullptr);
   AINFO << "capsule name->" << PyCapsule_GetName(py_stu1);
 
   std::vector<std::string> *stu1_ptr =

cyber/py_wrapper/cyber_record_wrap.cc

@@ -43,7 +43,7 @@ PyObject *cyber_new_PyRecordReader(PyObject *self, PyObject *args) {
   apollo::cyber::record::PyRecordReader *reader =
       new apollo::cyber::record::PyRecordReader(std::string(filepath, len));
   PyObject *pyobj_rec_reader =
-      PyCapsule_New(reader, "apollo_cyber_record_pyrecordfilereader", NULL);
+      PyCapsule_New(reader, "apollo_cyber_record_pyrecordfilereader", nullptr);
   return pyobj_rec_reader;
 }
 
@@ -246,7 +246,7 @@ PyObject *cyber_new_PyRecordWriter(PyObject *self, PyObject *args) {
   apollo::cyber::record::PyRecordWriter *writer =
       new apollo::cyber::record::PyRecordWriter();
   PyObject *pyobj_rec_writer =
-      PyCapsule_New(writer, "apollo_cyber_record_pyrecordfilewriter", NULL);
+      PyCapsule_New(writer, "apollo_cyber_record_pyrecordfilewriter", nullptr);
   return pyobj_rec_writer;
 }
 

cyber/py_wrapper/cyber_time_wrap.cc

@@ -40,7 +40,8 @@ PyObject* cyber_new_PyTime(PyObject* self, PyObject* args) {
   }
 
   apollo::cyber::PyTime* pytime = new apollo::cyber::PyTime(nanoseconds);
-  PyObject* pyobj_time = PyCapsule_New(pytime, "apollo_cybertron_pytime", NULL);
+  PyObject* pyobj_time =
+      PyCapsule_New(pytime, "apollo_cybertron_pytime", nullptr);
   return pyobj_time;
 }
 
@@ -141,7 +142,7 @@ PyObject* cyber_new_PyDuration(PyObject* self, PyObject* args) {
   apollo::cyber::PyDuration* pyduration =
       new apollo::cyber::PyDuration(nanoseconds);
   PyObject* pyobj_duration =
-      PyCapsule_New(pyduration, "apollo_cybertron_pyduration", NULL);
+      PyCapsule_New(pyduration, "apollo_cybertron_pyduration", nullptr);
   return pyobj_duration;
 }
 
@@ -189,7 +190,8 @@ PyObject* cyber_new_PyRate(PyObject* self, PyObject* args) {
   }
 
   apollo::cyber::PyRate* pyrate = new apollo::cyber::PyRate(nanoseconds);
-  PyObject* pyobj_rate = PyCapsule_New(pyrate, "apollo_cybertron_pyrate", NULL);
+  PyObject* pyobj_rate =
+      PyCapsule_New(pyrate, "apollo_cybertron_pyrate", nullptr);
   return pyobj_rate;
 }
 

cyber/py_wrapper/cyber_timer_wrap.cc

@@ -46,14 +46,14 @@ PyObject* cyber_new_PyTimer(PyObject* self, PyObject* args) {
   apollo::cyber::PyTimer* pytimer =
       new apollo::cyber::PyTimer(period, callback_fun, oneshot != 0);
   PyObject* pyobj_timer =
-      PyCapsule_New(pytimer, "apollo_cybertron_pytimer", NULL);
+      PyCapsule_New(pytimer, "apollo_cybertron_pytimer", nullptr);
   return pyobj_timer;
 }
 
 PyObject* cyber_new_PyTimer_noparam(PyObject* self, PyObject* args) {
   apollo::cyber::PyTimer* pytimer = new apollo::cyber::PyTimer();
   PyObject* pyobj_timer =
-      PyCapsule_New(pytimer, "apollo_cybertron_pytimer", NULL);
+      PyCapsule_New(pytimer, "apollo_cybertron_pytimer", nullptr);
   return pyobj_timer;
 }
 

cyber/py_wrapper/cyber_topology_manager_wrap.cc

@@ -36,7 +36,7 @@ PyObject *cyber_new_Node_Manager(PyObject *self, PyObject *args) {
   PyNodeManager *pyobj_node_manager = new PyNodeManager();
   PyObject *py_node_manager;
   py_node_manager =
-      PyCapsule_New(pyobj_node_manager, "apollo_cyber_node_manager", NULL);
+      PyCapsule_New(pyobj_node_manager, "apollo_cyber_node_manager", nullptr);
   return py_node_manager;
 }
 
@@ -96,7 +96,7 @@ PyObject *cyber_new_Channel_Manager(PyObject *self, PyObject *args) {
   PyChannelManager *pyobj_channel_manager = new PyChannelManager();
   PyObject *py_channel_manager;
   py_channel_manager = PyCapsule_New(pyobj_channel_manager,
-                                     "apollo_cyber_channel_manager", NULL);
+                                     "apollo_cyber_channel_manager", nullptr);
   return py_channel_manager;
 }
 

cyber/py_wrapper/test/test_node.cc

@@ -26,7 +26,7 @@
 using apollo::cyber::Time;
 using apollo::cyber::message::PyMessageWrap;
 
-apollo::cyber::PyReader *pr = NULL;
+apollo::cyber::PyReader *pr = nullptr;
 
 int cbfun(const char *channel_name) {
   AINFO << "recv->[ " << channel_name << " ]";

cyber/python/examples/py_listener.cc

@@ -18,7 +18,7 @@
 #include "cyber/proto/unit_test.pb.h"
 #include "cyber/py_wrapper/py_node.h"
 
-apollo::cyber::PyReader *pr = NULL;
+apollo::cyber::PyReader *pr = nullptr;
 
 int cbfun(const char *channel_name) {
   AINFO << "recv->[ " << channel_name << " ]";

cyber/scheduler/scheduler.h

@@ -72,8 +72,8 @@ class Scheduler {
   virtual bool NotifyProcessor(uint64_t crid) = 0;
   virtual bool RemoveCRoutine(uint64_t crid) = 0;
 
-  void SetInnerThreadConfs(const std::unordered_map<std::string, InnerThread>&
-                           confs) {
+  void SetInnerThreadConfs(
+      const std::unordered_map<std::string, InnerThread>& confs) {
     inner_thr_confs_ = confs;
   }
 

modules/planning/common/speed_profile_generator.cc

@@ -142,7 +142,7 @@ SpeedData SpeedProfileGenerator::GenerateFallbackSpeed(
   // Start a PathTimeQpProblem
   std::unique_ptr<PathTimeQpProblem> path_time_qp(new PathTimeQpProblem());
   path_time_qp->InitProblem(num_of_knots, delta_t, w,
-      FLAGS_longitudinal_jerk_bound, init_s, end_s);
+                            FLAGS_longitudinal_jerk_bound, init_s, end_s);
 
   path_time_qp->SetZeroOrderBounds(0.0, 100.0);
   path_time_qp->SetFirstOrderBounds(0.0, FLAGS_planning_upper_speed_limit);

modules/planning/tasks/task_factory.cc

@@ -120,9 +120,9 @@ void TaskFactory::Init(const PlanningConfig& config) {
                          [](const TaskConfig& config) -> Task* {
                            return new SidePassSafety(config);
                          });
-  task_factory_.Register(TaskConfig::DECIDER_RSS,
-                         [](const TaskConfig& config) -> Task* {
-                           return new RssDecider(config); });
+  task_factory_.Register(
+      TaskConfig::DECIDER_RSS,
+      [](const TaskConfig& config) -> Task* { return new RssDecider(config); });
   task_factory_.Register(TaskConfig::SPEED_BOUNDS_PRIORI_DECIDER,
                          [](const TaskConfig& config) -> Task* {
                            return new SpeedBoundsDecider(config);

modules/prediction/common/road_graph.cc

@@ -32,8 +32,7 @@ using apollo::hdmap::LaneInfo;
 
 // Custom helper functions for sorting purpose.
 bool HeadingIsAtLeft(const std::vector<double>& heading1,
-                     const std::vector<double>& heading2,
-                     const size_t idx) {
+                     const std::vector<double>& heading2, const size_t idx) {
   if (idx >= heading1.size() || idx >= heading2.size()) {
     return true;
   }