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Fix Code Style On marking-coordinator #2472

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Merged
petergarud merged 1 commit into from
Nov 24, 2025
Merged

Fix Code Style On marking-coordinator #2472

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14 changes: 6 additions & 8 deletions src/rj_strategy/src/agent/position/defense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,8 +36,7 @@ Defense::State Defense::update_state() {
return IDLING;
}

if (client_handles_->marking->am_i_member() &&
client_handles_->marking->am_i_marking()) {
if (client_handles_->marking->am_i_member() && client_handles_->marking->am_i_marking()) {
return MARKING;
} else {
return IDLING;
Expand Down Expand Up @@ -110,12 +109,11 @@ Defense::State Defense::update_state() {
sent_join_marking_group_request_ = true;
request_time_ = RJ::now();

client_handles_->marking->join_group(
[this](const bool is_member) {
if (is_member) {
pending_marking_state_ = true;
}
});
client_handles_->marking->join_group([this](const bool is_member) {
if (is_member) {
pending_marking_state_ = true;
}
});
}
auto elapsed = RJ::now() - request_time_;
if (elapsed > kMarkingGroupJoinTimeout) {
Expand Down
4 changes: 1 addition & 3 deletions src/rj_strategy/src/coordinator/marking.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,7 @@ void Marking::service_callback(RequestPtr request, ResponsePtr response) {
// Queue is queue of robots that want to join marking but aren't good enough
// Not close enough to mark or we exceeed the max num of markers
for (uint8_t id : unassigned_markers_queue_) {
const auto& i_robot =
last_world_state_.get_robot(true, id);
const auto& i_robot = last_world_state_.get_robot(true, id);
double distance = i_robot.pose.position().dist_to(enemy_robot.pose.position());
if (distance < min) {
min = distance;
Expand Down Expand Up @@ -213,7 +212,6 @@ void Marking::update_danger_scores() {

danger_score_[i] = danger_score;
}

}

uint8_t Marking::find_their_robot_in_possession() {
Expand Down
3 changes: 1 addition & 2 deletions src/rj_strategy/src/coordinator/marking_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,7 @@ void MarkingClient::join_group(StatusCallback callback) {
// Create subscription to track selected kicker.
subscription_ = node_->create_subscription<rj_msgs::msg::Marking>(
"marking_data", rclcpp::QoS(1).transient_local(),
[this](
const rj_msgs::msg::Marking::SharedPtr msg) {
[this](const rj_msgs::msg::Marking::SharedPtr msg) {
selected_robot_marking_id_ = msg->mark_robot_ids[robot_id_];
am_i_marking_ = (selected_robot_marking_id_ != kInvalidRobotId);
});
Expand Down