Robot: Code clean with clang-format.

modules/dreamview/backend/data_collection_monitor/data_collection_monitor.cc

@@ -84,8 +84,7 @@ bool IsCompliedWithCriterion(float actual_value,
     case ComparisonOperator::NOT_EQUAL:
       return (actual_value != target_value);
     default:
-      AERROR << "Unsupported comparison operator found:"
-             << comparison_operator;
+      AERROR << "Unsupported comparison operator found:" << comparison_operator;
       return false;
   }
 }

modules/perception/onboard/component/fusion_camera_detection_component.cc

@@ -243,8 +243,8 @@ bool FusionCameraDetectionComponent::Init() {
 
   if (enable_cipv_) {
     cipv_.Init(homography_im2car_, min_laneline_length_for_cipv_,
-      average_lane_width_in_meter_, max_vehicle_width_in_meter_,
-      average_frame_rate_, image_based_cipv_, debug_level_);
+               average_lane_width_in_meter_, max_vehicle_width_in_meter_,
+               average_frame_rate_, image_based_cipv_, debug_level_);
   }
 
   if (enable_visualization_) {
@@ -780,8 +780,8 @@ int FusionCameraDetectionComponent::InternalProc(
 
       // Get Drop points
       if (motion_buffer_->size() > 0) {
-       cipv_.CollectDrops(motion_buffer_, world2camera,
-                          &camera_frame.tracked_objects);
+        cipv_.CollectDrops(motion_buffer_, world2camera,
+                           &camera_frame.tracked_objects);
       } else {
         AWARN << "motion_buffer is empty";
       }
@@ -811,8 +811,8 @@ int FusionCameraDetectionComponent::InternalProc(
       camera_frame.data_provider->GetImage(image_options, &out_image);
       memcpy(output_image.data, out_image.cpu_data(),
              out_image.total() * sizeof(uint8_t));
-      visualize_.ShowResult_all_info_single_camera(output_image, camera_frame,
-                                                 motion_buffer_, world2camera);
+      visualize_.ShowResult_all_info_single_camera(
+          output_image, camera_frame, motion_buffer_, world2camera);
     }
   }
 

modules/planning/scenarios/scenario_manager.cc

@@ -906,14 +906,11 @@ void ScenarioManager::UpdatePlanningContextTrafficLightScenario(
   }
 }
 
-
 // update: pull_over status in PlanningContext
 void ScenarioManager::UpdatePlanningContextPullOverScenario(
     const Frame& frame, const ScenarioConfig::ScenarioType& scenario_type) {
   if (scenario_type != ScenarioConfig::PULL_OVER) {
-    PlanningContext::Instance()
-        ->mutable_planning_status()
-        ->clear_pull_over();
+    PlanningContext::Instance()->mutable_planning_status()->clear_pull_over();
     return;
   }
 }

modules/planning/scenarios/util/util.cc

@@ -73,10 +73,8 @@ PullOverStatus CheckADCPullOver(const ReferenceLineInfo& reference_line_info,
   const auto& pull_over_status =
       PlanningContext::Instance()->planning_status().pull_over();
 
-  if (!pull_over_status.is_feasible() ||
-      !pull_over_status.has_x() ||
-      !pull_over_status.has_y() ||
-      !pull_over_status.has_theta()) {
+  if (!pull_over_status.is_feasible() || !pull_over_status.has_x() ||
+      !pull_over_status.has_y() || !pull_over_status.has_theta()) {
     ADEBUG << "pull_over status not set properly: "
            << pull_over_status.DebugString();
     return UNKNOWN;

modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc

@@ -643,8 +643,7 @@ bool OpenSpaceRoiDecider::GetPullOverSpot(
     hdmap::Path *nearby_path) {
   const auto &pull_over_status =
       PlanningContext::Instance()->planning_status().pull_over();
-  if (!pull_over_status.has_x() ||
-      !pull_over_status.has_y() ||
+  if (!pull_over_status.has_x() || !pull_over_status.has_y() ||
       !pull_over_status.has_theta()) {
     AERROR << "Pull over position not set in planning context";
     return false;

modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc

@@ -175,8 +175,8 @@ Status PathBoundsDecider::Process(
   RemoveRedundantPathBoundaries(&candidate_path_boundaries);
 
   auto* pull_over_status = PlanningContext::Instance()
-                             ->mutable_planning_status()
-                             ->mutable_pull_over();
+                               ->mutable_planning_status()
+                               ->mutable_pull_over();
   // If needed, search for pull-over position.
   if (config_.path_bounds_decider_config().is_pull_over()) {
     if (!exist_self_path_bound) {
@@ -366,9 +366,8 @@ bool PathBoundsDecider::SearchPullOverPosition(
   // Check if destination is some distance away from ADC.
   ADEBUG << "Destination is at s = " << destination_s
          << ", ADC is at s = " << adc_end_s;
-  if (destination_s - adc_end_s <
-      config_.path_bounds_decider_config()
-             .pull_over_destination_to_adc_buffer()) {
+  if (destination_s - adc_end_s < config_.path_bounds_decider_config()
+                                      .pull_over_destination_to_adc_buffer()) {
     ADEBUG << "ADC is close to the destination.";
     const auto& pull_over_status =
         PlanningContext::Instance()->planning_status().pull_over();
@@ -377,10 +376,10 @@ bool PathBoundsDecider::SearchPullOverPosition(
       reference_line.XYToSL({pull_over_status.x(), pull_over_status.y()},
                             &pull_over_sl);
 
-      ADEBUG << "pull-over pisition: s[" << pull_over_sl.s()
-             << "] l[" << pull_over_sl.l() << "] x[" << pull_over_status.x()
-             << "] y[" << pull_over_status.y()
-             << "] theta[" << pull_over_status.theta() << "]";
+      ADEBUG << "pull-over pisition: s[" << pull_over_sl.s() << "] l["
+             << pull_over_sl.l() << "] x[" << pull_over_status.x() << "] y["
+             << pull_over_status.y() << "] theta[" << pull_over_status.theta()
+             << "]";
       int pull_over_idx = 0;
       for (const auto& path_bound_point : path_bound) {
         if (std::get<0>(path_bound_point) < pull_over_sl.s()) {
@@ -389,11 +388,9 @@ bool PathBoundsDecider::SearchPullOverPosition(
           break;
         }
       }
-      *pull_over_configuration = std::make_tuple(
-          pull_over_status.x(),
-          pull_over_status.y(),
-          pull_over_status.theta(),
-          pull_over_idx);
+      *pull_over_configuration =
+          std::make_tuple(pull_over_status.x(), pull_over_status.y(),
+                          pull_over_status.theta(), pull_over_idx);
       return true;
     } else {
       ADEBUG << "Destination is too close to ADC. distance["
@@ -405,7 +402,7 @@ bool PathBoundsDecider::SearchPullOverPosition(
   // Check if destination is within path-bounds searching scope.
   const double destination_to_pathend_buffer =
       config_.path_bounds_decider_config()
-             .pull_over_destination_to_pathend_buffer();
+          .pull_over_destination_to_pathend_buffer();
   if (destination_s + destination_to_pathend_buffer >=
       std::get<0>(path_bound.back())) {
     ADEBUG << "Destination is not within path_bounds search scope";
@@ -500,9 +497,8 @@ bool PathBoundsDecider::SearchPullOverPosition(
           reference_line.GetReferencePoint(pull_over_s);
       const double pull_over_theta = reference_point.heading();
 
-      *pull_over_configuration =
-          std::make_tuple(pull_over_x, pull_over_y,
-                          pull_over_theta, (i + j) / 2);
+      *pull_over_configuration = std::make_tuple(pull_over_x, pull_over_y,
+                                                 pull_over_theta, (i + j) / 2);
       break;
     }
     --i;

modules/planning/traffic_rules/destination.cc

@@ -84,8 +84,8 @@ int Destination::MakeDecisions(Frame* frame,
   if (FLAGS_enable_scenario_pull_over) {
     const auto& pull_over_status =
         PlanningContext::Instance()->planning_status().pull_over();
-    if (pull_over_status.is_feasible() &&
-        pull_over_status.has_x() && pull_over_status.has_y()) {
+    if (pull_over_status.is_feasible() && pull_over_status.has_x() &&
+        pull_over_status.has_y()) {
       // build stop decision based on pull-over position
       ADEBUG << "BuildStopDecision: pull-over position";
       common::SLPoint pull_over_sl;