atticus@rospi-ssh-session [publish_ws] <5-sync-pre-commit-and-ament-uncrustify-formatting>
~/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface
check for added large files..............................................Passed
check python ast.....................................(no files to check)Skipped
check for case conflicts.................................................Passed
check docstring is first.............................(no files to check)Skipped
check for merge conflicts................................................Passed
check for broken symlinks................................................Passed
check xml................................................................Passed
check yaml...............................................................Passed
debug statements (python)............................(no files to check)Skipped
detect destroyed symlinks................................................Passed
detect private key.......................................................Passed
fix end of files.........................................................Failed
- hook id: end-of-file-fixer
- exit code: 1
- files were modified by this hook

Fixing include/rpi_pwm_hardware_interface/angular_servo.hpp

forbid submodules....................................(no files to check)Skipped
mixed line ending........................................................Passed
fix requirements.txt.................................(no files to check)Skipped
trim trailing whitespace.................................................Failed
- hook id: trailing-whitespace
- exit code: 1
- files were modified by this hook

Fixing README.md
Fixing src/angular_servo.cpp

fix utf-8 byte order marker..............................................Passed
pyupgrade............................................(no files to check)Skipped
pydocstyle...........................................(no files to check)Skipped
flake8...............................................(no files to check)Skipped
black................................................(no files to check)Skipped
clang-format.............................................................Failed
- hook id: clang-format
- files were modified by this hook
ament_cppcheck...........................................................Passed
ament_cpplint............................................................Failed
- hook id: ament_cpplint
- exit code: 1

Using '--root=/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/include' argument

/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/include/rpi_pwm_hardware_interface/angular_servo.hpp:0:  No copyright message found.  You should have a line: "Copyright [year] <Copyright Owner>"  [legal/copyright] [5]
/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/include/rpi_pwm_hardware_interface/angular_servo.hpp:10:  Missing username in TODO; it should look like "// TODO(my_username): Stuff."  [readability/todo] [2]
Done processing /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/include/rpi_pwm_hardware_interface/angular_servo.hpp

Done processing /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp

Done processing /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/include/rpi_pwm_hardware_interface/visibility_control.h

Using '--root=/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/test' argument

Done processing /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/test/test_rpi_pwm_hardware_interface.cpp

Category 'legal/copyright' errors found: 1
Category 'readability/todo' errors found: 1
Total errors found: 2
Using '--root=/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src' argument

/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/angular_servo.cpp:0:  No copyright message found.  You should have a line: "Copyright [year] <Copyright Owner>"  [legal/copyright] [5]
/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/angular_servo.cpp:8:  Do not use namespace using-directives.  Use using-declarations instead.  [build/namespaces] [5]
/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/angular_servo.cpp:10:  Missing username in TODO; it should look like "// TODO(my_username): Stuff."  [readability/todo] [2]
Done processing /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/angular_servo.cpp

/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/rpi_pwm_hardware_interface.cpp:104:  Missing username in TODO; it should look like "// TODO(my_username): Stuff."  [readability/todo] [2]
Done processing /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/rpi_pwm_hardware_interface.cpp

Category 'build/namespaces' errors found: 1
Category 'legal/copyright' errors found: 1
Category 'readability/todo' errors found: 2
Total errors found: 4

ament_lint_cmake.........................................................Passed
ament_copyright..........................................................Failed
- hook id: ament_copyright
- exit code: 1

No problems found, checked 1 files
No problems found, checked 1 files
include/rpi_pwm_hardware_interface/angular_servo.hpp: could not find copyright notice
src/angular_servo.cpp: could not find copyright notice
2 errors, checked 2 files
No problems found, checked 3 files

doc8.................................................(no files to check)Skipped
rst ``code`` is two backticks........................(no files to check)Skipped
rst directives end with two colons...................(no files to check)Skipped
rst ``inline code`` next to normal text..............(no files to check)Skipped
codespell................................................................Passed
pre-commit hook(s) made changes.
If you are seeing this message in CI, reproduce locally with: `pre-commit run --all-files`.
To run `pre-commit` as part of git workflow, use `pre-commit install`.
All changes made by hooks:
diff --git a/README.md b/README.md
index 18c4c59..3bb9a1b 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@ ROS2 control hardware interface package for controlling a servo motor through a
 
 # Dependency on PiGPIO
 
-This hardware interface requires the pigpio library to interface with the pwm pins on the pi. The installation instructions for pigpio are: 
+This hardware interface requires the pigpio library to interface with the pwm pins on the pi. The installation instructions for pigpio are:
 wget https://github.com/joan2937/pigpio/archive/master.zip
 unzip master.zip
diff --git a/include/rpi_pwm_hardware_interface/angular_servo.hpp b/include/rpi_pwm_hardware_interface/angular_servo.hpp
index e584e52..c4ec773 100644
--- a/include/rpi_pwm_hardware_interface/angular_servo.hpp
+++ b/include/rpi_pwm_hardware_interface/angular_servo.hpp
@@ -1,31 +1,33 @@
 #pragma once
 
-class Servo {
-       public:
-               Servo(int pi, int pin);
-               int getPulseWidth();
-               void setPulseWidth(int pulseWidth);
+class Servo
+{
+public:
+  Servo(int pi, int pin);
+  int getPulseWidth();
+  void setPulseWidth(int pulseWidth);
 
-               int __pi; // TODO rename to indicate public, and pigpio pi
-       protected:
-               int __pin;
+  int __pi;  // TODO rename to indicate public, and pigpio pi
+protected:
+  int __pin;
 };
 
-class AngularServo : public Servo {
-       public:
-               AngularServo(int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs);
-               void setAngle(float angle);
-               int getAngle();
+class AngularServo : public Servo
+{
+public:
+  AngularServo(
+    int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs);
+  void setAngle(float angle);
+  int getAngle();
 
-       protected:
-               float __angle;
-               float __minAngle;
-               float __maxAngle;
-               int __minPulseWidthUs;
-               int __maxPulseWidthUs;
+protected:
+  float __angle;
+  float __minAngle;
+  float __maxAngle;
+  int __minPulseWidthUs;
+  int __maxPulseWidthUs;
 };
 
 bool isPigpiodRunning();
 void killPigpiod();
 void startPigpiod();
-
diff --git a/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp b/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
index 6f96eac..3c95ac7 100644
--- a/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
+++ b/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
@@ -20,38 +20,37 @@
 #include <string>
 #include <vector>
 
-#include "rpi_pwm_hardware_interface/angular_servo.hpp"
-#include "rpi_pwm_hardware_interface/visibility_control.h"
-#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/state.hpp"
+#include "rpi_pwm_hardware_interface/angular_servo.hpp"
+#include "rpi_pwm_hardware_interface/visibility_control.h"
 
 namespace rpi_pwm_hardware_interface
 {
 class RPiPWMHardwareInterface : public hardware_interface::SystemInterface
 {
-
-struct ServoConfig
-{
-  std::string name = "";
-  int pin = 0;
-  int pi = 0;
-  float min_angle = 0.0;
-  float max_angle = 0.0;
-  int min_pulse_width_us = 0;
-  int max_pulse_width_us = 0;
-};
-
-struct ServoJoint
-{
-  std::string name = "";
-  std::unique_ptr<AngularServo> servo;
-  double pos = 0;
-  double cmd = 0;
-};
+  struct ServoConfig
+  {
+    std::string name = "";
+    int pin = 0;
+    int pi = 0;
+    float min_angle = 0.0;
+    float max_angle = 0.0;
+    int min_pulse_width_us = 0;
+    int max_pulse_width_us = 0;
+  };
+
+  struct ServoJoint
+  {
+    std::string name = "";
+    std::unique_ptr<AngularServo> servo;
+    double pos = 0;
+    double cmd = 0;
+  };
 
 public:
   TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
diff --git a/src/angular_servo.cpp b/src/angular_servo.cpp
index 0ecbe12..34dbf15 100644
--- a/src/angular_servo.cpp
+++ b/src/angular_servo.cpp
@@ -1,114 +1,149 @@
-#include <iostream>
+#include "rpi_pwm_hardware_interface/angular_servo.hpp"
+#include <pigpiod_if2.h>
 #include <csignal>
 #include <cstdlib>
 #include <functional>
-#include <pigpiod_if2.h>
-#include "rpi_pwm_hardware_interface/angular_servo.hpp"
+#include <iostream>
 
 using namespace std;
 
-// TODO revisit private vs protected vars - maybe swap to private 
+// TODO revisit private vs protected vars - maybe swap to private
 
-Servo::Servo(int pi, int pin) {
-    __pi = pi;
-    __pin = pin;
-    int rc;
-    rc = set_mode(__pi, __pin, PI_OUTPUT);
-    if (rc < 0){
-        throw "Invalid GPIO pin or mode Error!";
-    }
-    
-    // initializing to zero with pigpio is no input
-    rc = set_servo_pulsewidth(__pi, __pin, 0);
-    if (rc < 0) {
-        throw "Invalid user GPIO pin or pulsewidth Error!";
-    }
+Servo::Servo(int pi, int pin)
+{
+  __pi = pi;
+  __pin = pin;
+  int rc;
+  rc = set_mode(__pi, __pin, PI_OUTPUT);
+  if (rc < 0)
+  {
+    throw "Invalid GPIO pin or mode Error!";
+  }
+
+  // initializing to zero with pigpio is no input
+  rc = set_servo_pulsewidth(__pi, __pin, 0);
+  if (rc < 0)
+  {
+    throw "Invalid user GPIO pin or pulsewidth Error!";
+  }
 }
 
-int Servo::getPulseWidth() {
-    int rc = get_servo_pulsewidth(__pi, __pin);
-    if (rc < 0) {
-        throw "Invalid user GPIO pin Error!";
-    }
-    return rc;
+int Servo::getPulseWidth()
+{
+  int rc = get_servo_pulsewidth(__pi, __pin);
+  if (rc < 0)
+  {
+    throw "Invalid user GPIO pin Error!";
+  }
+  return rc;
 }
 
-void Servo::setPulseWidth(int pulseWidth){
-    int rc = set_servo_pulsewidth(__pi, __pin, pulseWidth);
-    if (rc < 0) {
-        throw "Invalid user GPIO pin or pulsewidth Error!";
-    }
+void Servo::setPulseWidth(int pulseWidth)
+{
+  int rc = set_servo_pulsewidth(__pi, __pin, pulseWidth);
+  if (rc < 0)
+  {
+    throw "Invalid user GPIO pin or pulsewidth Error!";
+  }
 }
 
-AngularServo::AngularServo(int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs) : Servo(pi, pin) {
-            __minAngle = minAngle;
-            __maxAngle = maxAngle;
-            __minPulseWidthUs = minPulseWidthUs;
-            __maxPulseWidthUs = maxPulseWidthUs;
+AngularServo::AngularServo(
+  int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs)
+: Servo(pi, pin)
+{
+  __minAngle = minAngle;
+  __maxAngle = maxAngle;
+  __minPulseWidthUs = minPulseWidthUs;
+  __maxPulseWidthUs = maxPulseWidthUs;
 }
 
-void AngularServo::setAngle(float angle){
-    __angle = angle;
-    // make sure angle is within bounds
-    if (__angle < __minAngle){
-        __angle = __minAngle;
-    }
-    if (__angle > __maxAngle){
-        __angle = __maxAngle;
-    }
-    int pulseWidth = __minPulseWidthUs + (__angle - __minAngle) * (__maxPulseWidthUs - __minPulseWidthUs) / (__maxAngle - __minAngle);
+void AngularServo::setAngle(float angle)
+{
+  __angle = angle;
+  // make sure angle is within bounds
+  if (__angle < __minAngle)
+  {
+    __angle = __minAngle;
+  }
+  if (__angle > __maxAngle)
+  {
+    __angle = __maxAngle;
+  }
+  int pulseWidth = __minPulseWidthUs + (__angle - __minAngle) *
+                                         (__maxPulseWidthUs - __minPulseWidthUs) /
+                                         (__maxAngle - __minAngle);
 
-    setPulseWidth(pulseWidth);
+  setPulseWidth(pulseWidth);
 }
 
-int AngularServo::getAngle(){
-    int pulseWidth = getPulseWidth();
-    float angle = __minAngle + (pulseWidth - __minPulseWidthUs) * (__maxAngle - __minAngle) / (__maxPulseWidthUs - __minPulseWidthUs);
-    return angle;
+int AngularServo::getAngle()
+{
+  int pulseWidth = getPulseWidth();
+  float angle = __minAngle + (pulseWidth - __minPulseWidthUs) * (__maxAngle - __minAngle) /
+                               (__maxPulseWidthUs - __minPulseWidthUs);
+  return angle;
 }
 
-bool isPigpiodRunning() {
-    int result = system("pgrep pigpiod");
+bool isPigpiodRunning()
+{
+  int result = system("pgrep pigpiod");
 
-    if (result == 0) {
-        // pigpiod daemon is running
-        return true;
-    } else {
-        // pigpiod daemon is not running
-        return false;
-    }
+  if (result == 0)
+  {
+    // pigpiod daemon is running
+    return true;
+  }
+  else
+  {
+    // pigpiod daemon is not running
+    return false;
+  }
 }
 
-void killPigpiod() {
-    if (isPigpiodRunning()) {
-        int result = system("sudo killall pigpiod -q");
-
-        if (result == 0) {
-            // Successfully killed the pigpiod daemon
-            cout << "pigpiod daemon killed successfully" << endl;
-        } else {
-            // An error occurred while trying to kill the pigpiod daemon
-            cerr << "Error killing pigpiod daemon. Return code: " << result << endl;
-        }
-    } else {
-        cout << "pigpiod daemon is not running" << endl;
+void killPigpiod()
+{
+  if (isPigpiodRunning())
+  {
+    int result = system("sudo killall pigpiod -q");
+
+    if (result == 0)
+    {
+      // Successfully killed the pigpiod daemon
+      cout << "pigpiod daemon killed successfully" << endl;
+    }
+    else
+    {
+      // An error occurred while trying to kill the pigpiod daemon
+      cerr << "Error killing pigpiod daemon. Return code: " << result << endl;
     }
+  }
+  else
+  {
+    cout << "pigpiod daemon is not running" << endl;
+  }
 }
 
-void startPigpiod() {
-    if (!isPigpiodRunning()) {
-        cout << "pigpio daemon not running. attempting to start it." << endl;
-        system("sudo systemctl start pigpiod");
-        sleep(1);
-
-        if (isPigpiodRunning()) {
-            // Successfully started the pigpiod daemon
-            cout << "pigpiod daemon started successfully" << endl;
-        } else {
-            // An error occurred while trying to start the pigpiod daemon
-            cerr << "Error starting pigpiod daemon." << endl; 
-        }
-    } else {
-        cout << "pigpiod daemon is already running" << endl;
+void startPigpiod()
+{
+  if (!isPigpiodRunning())
+  {
+    cout << "pigpio daemon not running. attempting to start it." << endl;
+    system("sudo systemctl start pigpiod");
+    sleep(1);
+
+    if (isPigpiodRunning())
+    {
+      // Successfully started the pigpiod daemon
+      cout << "pigpiod daemon started successfully" << endl;
+    }
+    else
+    {
+      // An error occurred while trying to start the pigpiod daemon
+      cerr << "Error starting pigpiod daemon." << endl;
     }
+  }
+  else
+  {
+    cout << "pigpiod daemon is already running" << endl;
+  }
 }
diff --git a/src/rpi_pwm_hardware_interface.cpp b/src/rpi_pwm_hardware_interface.cpp
index 35af62d..92c574f 100644
--- a/src/rpi_pwm_hardware_interface.cpp
+++ b/src/rpi_pwm_hardware_interface.cpp
@@ -13,14 +13,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <limits>
 #include <pigpiod_if2.h>
 #include <unistd.h>
+#include <limits>
 #include <vector>
 
-#include "rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp"
 
 namespace rpi_pwm_hardware_interface
 {
@@ -47,16 +47,20 @@ hardware_interface::CallbackReturn RPiPWMHardwareInterface::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // TODO(anyone): prepare the robot to be ready for read calls and write calls of some interfaces
-  if (!isPigpiodRunning()) {
-        startPigpiod();
-    }
-
-  if (isPigpiodRunning()) {
-      // pigpiod daemon is running
-      return CallbackReturn::SUCCESS;
-  } else {
-      // pigpiod daemon is not running
-      return CallbackReturn::ERROR;
+  if (!isPigpiodRunning())
+  {
+    startPigpiod();
+  }
+
+  if (isPigpiodRunning())
+  {
+    // pigpiod daemon is running
+    return CallbackReturn::SUCCESS;
+  }
+  else
+  {
+    // pigpiod daemon is not running
+    return CallbackReturn::ERROR;
   }
 }
 
@@ -71,19 +75,20 @@ hardware_interface::CallbackReturn RPiPWMHardwareInterface::on_cleanup(
 std::vector<hardware_interface::StateInterface> RPiPWMHardwareInterface::export_state_interfaces()
 {
   std::vector<hardware_interface::StateInterface> state_interfaces;
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
     // TEST(anyone): insert correct interfaces
     rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.pos));
 
   return state_interfaces;
 }
 
-std::vector<hardware_interface::CommandInterface> RPiPWMHardwareInterface::export_command_interfaces()
+std::vector<hardware_interface::CommandInterface>
+RPiPWMHardwareInterface::export_command_interfaces()
 {
   std::vector<hardware_interface::CommandInterface> command_interfaces;
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      // TEST(anyone): insert correct interfaces
-      rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.cmd));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(
+    // TEST(anyone): insert correct interfaces
+    rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.cmd));
 
   return command_interfaces;
 }
@@ -94,12 +99,17 @@ hardware_interface::CallbackReturn RPiPWMHardwareInterface::on_activate(
   // TEST(anyone): prepare the robot to receive commands
   rudder_joint_.name = srv_cfg_.name;
   srv_cfg_.pi = pigpio_start(NULL, NULL);
-  if (srv_cfg_.pi < 0) {
-      // TODO maybe make ros log error
-      std::cerr << "Error initializing pigpio" << std::endl;
-      return CallbackReturn::ERROR;
-  } else {
-    rudder_joint_.servo = std::make_unique<AngularServo>(srv_cfg_.pi, srv_cfg_.pin, srv_cfg_.min_angle, srv_cfg_.max_angle, srv_cfg_.min_pulse_width_us, srv_cfg_.max_pulse_width_us);
+  if (srv_cfg_.pi < 0)
+  {
+    // TODO maybe make ros log error
+    std::cerr << "Error initializing pigpio" << std::endl;
+    return CallbackReturn::ERROR;
+  }
+  else
+  {
+    rudder_joint_.servo = std::make_unique<AngularServo>(
+      srv_cfg_.pi, srv_cfg_.pin, srv_cfg_.min_angle, srv_cfg_.max_angle,
+      srv_cfg_.min_pulse_width_us, srv_cfg_.max_pulse_width_us);
     return CallbackReturn::SUCCESS;
   }
 }

Starting >>> rpi_pwm_hardware_interface
--- stderr: rpi_pwm_hardware_interface                                
/home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/pigpio-prefix/src/pigpio-build/setup.py:3: DeprecationWarning: The distutils package is deprecated and slated for removal in Python 3.12. Use setuptools or check PEP 632 for potential alternatives
  from distutils.core import setup
error: could not delete '/usr/local/lib/python3.10/dist-packages/pigpio.py': Permission denied
---
Finished <<< rpi_pwm_hardware_interface [22.1s]

Summary: 1 package finished [22.2s]
  1 package had stderr output: rpi_pwm_hardware_interface
/home/atticus/workspace/publish_ws

atticus@rospi-ssh-session [publish_ws] 
~/workspace/publish_ws
12:45:11 $ colcon test-result --verbose 

- uncrustify
  <<< failure message
    -- run_test.py: invoking following command in '/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface':
     - /opt/ros/humble/bin/ament_uncrustify --xunit-file /home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/uncrustify.xunit.xml
    Code style divergence in file 'include/rpi_pwm_hardware_interface/angular_servo.hpp':
    
    --- include/rpi_pwm_hardware_interface/angular_servo.hpp
    +++ include/rpi_pwm_hardware_interface/angular_servo.hpp.uncrustify
    @@ -3,5 +3,6 @@
    -class Servo {
    -   public:
    -           Servo(int pi, int pin);
    -           int getPulseWidth();
    -           void setPulseWidth(int pulseWidth);
    +class Servo
    +{
    +public:
    +  Servo(int pi, int pin);
    +  int getPulseWidth();
    +  void setPulseWidth(int pulseWidth);
    @@ -9,3 +10,4 @@
    -           int __pi; // TODO rename to indicate public, and pigpio pi
    -   protected:
    -           int __pin;
    +  int __pi;               // TODO rename to indicate public, and pigpio pi
    +
    +protected:
    +  int __pin;
    @@ -14,5 +16,8 @@
    -class AngularServo : public Servo {
    -   public:
    -           AngularServo(int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs);
    -           void setAngle(float angle);
    -           int getAngle();
    +class AngularServo : public Servo
    +{
    +public:
    +  AngularServo(
    +    int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs,
    +    int maxPulseWidthUs);
    +  void setAngle(float angle);
    +  int getAngle();
    @@ -20,6 +25,6 @@
    -   protected:
    -           float __angle;
    -           float __minAngle;
    -           float __maxAngle;
    -           int __minPulseWidthUs;
    -           int __maxPulseWidthUs;
    +protected:
    +  float __angle;
    +  float __minAngle;
    +  float __maxAngle;
    +  int __minPulseWidthUs;
    +  int __maxPulseWidthUs;
    @@ -31 +35,0 @@
    -
    
    Code style divergence in file 'include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp':
    
    --- include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
    +++ include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp.uncrustify
    @@ -37,10 +37,10 @@
    -struct ServoConfig
    -{
    -  std::string name = "";
    -  int pin = 0;
    -  int pi = 0;
    -  float min_angle = 0.0;
    -  float max_angle = 0.0;
    -  int min_pulse_width_us = 0;
    -  int max_pulse_width_us = 0;
    -};
    +  struct ServoConfig
    +  {
    +    std::string name = "";
    +    int pin = 0;
    +    int pi = 0;
    +    float min_angle = 0.0;
    +    float max_angle = 0.0;
    +    int min_pulse_width_us = 0;
    +    int max_pulse_width_us = 0;
    +  };
    @@ -48,7 +48,7 @@
    -struct ServoJoint
    -{
    -  std::string name = "";
    -  std::unique_ptr<AngularServo> servo;
    -  double pos = 0;
    -  double cmd = 0;
    -};
    +  struct ServoJoint
    +  {
    +    std::string name = "";
    +    std::unique_ptr<AngularServo> servo;
    +    double pos = 0;
    +    double cmd = 0;
    +  };
    
    Code style divergence in file 'src/angular_servo.cpp':
    
    --- src/angular_servo.cpp
    +++ src/angular_servo.cpp.uncrustify
    @@ -10 +10 @@
    -// TODO revisit private vs protected vars - maybe swap to private 
    +// TODO revisit private vs protected vars - maybe swap to private
    @@ -12,14 +12,15 @@
    -Servo::Servo(int pi, int pin) {
    -    __pi = pi;
    -    __pin = pin;
    -    int rc;
    -    rc = set_mode(__pi, __pin, PI_OUTPUT);
    -    if (rc < 0){
    -        throw "Invalid GPIO pin or mode Error!";
    -    }
    -    
    -    // initializing to zero with pigpio is no input
    -    rc = set_servo_pulsewidth(__pi, __pin, 0);
    -    if (rc < 0) {
    -        throw "Invalid user GPIO pin or pulsewidth Error!";
    -    }
    +Servo::Servo(int pi, int pin)
    +{
    +  __pi = pi;
    +  __pin = pin;
    +  int rc;
    +  rc = set_mode(__pi, __pin, PI_OUTPUT);
    +  if (rc < 0) {
    +    throw "Invalid GPIO pin or mode Error!";
    +  }
    +
    +  // initializing to zero with pigpio is no input
    +  rc = set_servo_pulsewidth(__pi, __pin, 0);
    +  if (rc < 0) {
    +    throw "Invalid user GPIO pin or pulsewidth Error!";
    +  }
    @@ -28,6 +29,7 @@
    -int Servo::getPulseWidth() {
    -    int rc = get_servo_pulsewidth(__pi, __pin);
    -    if (rc < 0) {
    -        throw "Invalid user GPIO pin Error!";
    -    }
    -    return rc;
    +int Servo::getPulseWidth()
    +{
    +  int rc = get_servo_pulsewidth(__pi, __pin);
    +  if (rc < 0) {
    +    throw "Invalid user GPIO pin Error!";
    +  }
    +  return rc;
    @@ -36,5 +38,6 @@
    -void Servo::setPulseWidth(int pulseWidth){
    -    int rc = set_servo_pulsewidth(__pi, __pin, pulseWidth);
    -    if (rc < 0) {
    -        throw "Invalid user GPIO pin or pulsewidth Error!";
    -    }
    +void Servo::setPulseWidth(int pulseWidth)
    +{
    +  int rc = set_servo_pulsewidth(__pi, __pin, pulseWidth);
    +  if (rc < 0) {
    +    throw "Invalid user GPIO pin or pulsewidth Error!";
    +  }
    @@ -43,5 +46,9 @@
    -AngularServo::AngularServo(int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs) : Servo(pi, pin) {
    -            __minAngle = minAngle;
    -            __maxAngle = maxAngle;
    -            __minPulseWidthUs = minPulseWidthUs;
    -            __maxPulseWidthUs = maxPulseWidthUs;
    +AngularServo::AngularServo(
    +  int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs,
    +  int maxPulseWidthUs)
    +: Servo(pi, pin)
    +{
    +  __minAngle = minAngle;
    +  __maxAngle = maxAngle;
    +  __minPulseWidthUs = minPulseWidthUs;
    +  __maxPulseWidthUs = maxPulseWidthUs;
    @@ -50,10 +57,12 @@
    -void AngularServo::setAngle(float angle){
    -    __angle = angle;
    -    // make sure angle is within bounds
    -    if (__angle < __minAngle){
    -        __angle = __minAngle;
    -    }
    -    if (__angle > __maxAngle){
    -        __angle = __maxAngle;
    -    }
    -    int pulseWidth = __minPulseWidthUs + (__angle - __minAngle) * (__maxPulseWidthUs - __minPulseWidthUs) / (__maxAngle - __minAngle);
    +void AngularServo::setAngle(float angle)
    +{
    +  __angle = angle;
    +  // make sure angle is within bounds
    +  if (__angle < __minAngle) {
    +    __angle = __minAngle;
    +  }
    +  if (__angle > __maxAngle) {
    +    __angle = __maxAngle;
    +  }
    +  int pulseWidth = __minPulseWidthUs + (__angle - __minAngle) *
    +    (__maxPulseWidthUs - __minPulseWidthUs) / (__maxAngle - __minAngle);
    @@ -61 +70 @@
    -    setPulseWidth(pulseWidth);
    +  setPulseWidth(pulseWidth);
    @@ -64,4 +73,6 @@
    -int AngularServo::getAngle(){
    -    int pulseWidth = getPulseWidth();
    -    float angle = __minAngle + (pulseWidth - __minPulseWidthUs) * (__maxAngle - __minAngle) / (__maxPulseWidthUs - __minPulseWidthUs);
    -    return angle;
    +int AngularServo::getAngle()
    +{
    +  int pulseWidth = getPulseWidth();
    +  float angle = __minAngle + (pulseWidth - __minPulseWidthUs) * (__maxAngle - __minAngle) /
    +    (__maxPulseWidthUs - __minPulseWidthUs);
    +  return angle;
    @@ -70,2 +81,17 @@
    -bool isPigpiodRunning() {
    -    int result = system("pgrep pigpiod");
    +bool isPigpiodRunning()
    +{
    +  int result = system("pgrep pigpiod");
    +
    +  if (result == 0) {
    +    // pigpiod daemon is running
    +    return true;
    +  } else {
    +    // pigpiod daemon is not running
    +    return false;
    +  }
    +}
    +
    +void killPigpiod()
    +{
    +  if (isPigpiodRunning()) {
    +    int result = system("sudo killall pigpiod -q");
    @@ -74,2 +100,2 @@
    -        // pigpiod daemon is running
    -        return true;
    +      // Successfully killed the pigpiod daemon
    +      cout << "pigpiod daemon killed successfully" << endl;
    @@ -77,2 +103,2 @@
    -        // pigpiod daemon is not running
    -        return false;
    +      // An error occurred while trying to kill the pigpiod daemon
    +      cerr << "Error killing pigpiod daemon. Return code: " << result << endl;
    @@ -79,0 +106,3 @@
    +  } else {
    +    cout << "pigpiod daemon is not running" << endl;
    +  }
    @@ -82 +111,7 @@
    -void killPigpiod() {
    +void startPigpiod()
    +{
    +  if (!isPigpiodRunning()) {
    +    cout << "pigpio daemon not running. attempting to start it." << endl;
    +    system("sudo systemctl start pigpiod");
    +    sleep(1);
    +
    @@ -84,9 +119,2 @@
    -        int result = system("sudo killall pigpiod -q");
    -
    -        if (result == 0) {
    -            // Successfully killed the pigpiod daemon
    -            cout << "pigpiod daemon killed successfully" << endl;
    -        } else {
    -            // An error occurred while trying to kill the pigpiod daemon
    -            cerr << "Error killing pigpiod daemon. Return code: " << result << endl;
    -        }
    +      // Successfully started the pigpiod daemon
    +      cout << "pigpiod daemon started successfully" << endl;
    @@ -94 +122,2 @@
    -        cout << "pigpiod daemon is not running" << endl;
    +      // An error occurred while trying to start the pigpiod daemon
    +      cerr << "Error starting pigpiod daemon." << endl;
    @@ -95,0 +125,3 @@
    +  } else {
    +    cout << "pigpiod daemon is already running" << endl;
    +  }
    @@ -97,18 +128,0 @@
    -
    -void startPigpiod() {
    -    if (!isPigpiodRunning()) {
    -        cout << "pigpio daemon not running. attempting to start it." << endl;
    -        system("sudo systemctl start pigpiod");
    -        sleep(1);
    -
    -        if (isPigpiodRunning()) {
    -            // Successfully started the pigpiod daemon
    -            cout << "pigpiod daemon started successfully" << endl;
    -        } else {
    -            // An error occurred while trying to start the pigpiod daemon
    -            cerr << "Error starting pigpiod daemon." << endl; 
    -        }
    -    } else {
    -        cout << "pigpiod daemon is already running" << endl;
    -    }
    -}
    
    Code style divergence in file 'src/rpi_pwm_hardware_interface.cpp':
    
    --- src/rpi_pwm_hardware_interface.cpp
    +++ src/rpi_pwm_hardware_interface.cpp.uncrustify
    @@ -30,2 +30 @@
    -  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
    -  {
    +  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
    @@ -51,2 +50,2 @@
    -        startPigpiod();
    -    }
    +    startPigpiod();
    +  }
    @@ -55,2 +54,2 @@
    -      // pigpiod daemon is running
    -      return CallbackReturn::SUCCESS;
    +    // pigpiod daemon is running
    +    return CallbackReturn::SUCCESS;
    @@ -58,2 +57,2 @@
    -      // pigpiod daemon is not running
    -      return CallbackReturn::ERROR;
    +    // pigpiod daemon is not running
    +    return CallbackReturn::ERROR;
    @@ -74,3 +73,4 @@
    -    state_interfaces.emplace_back(hardware_interface::StateInterface(
    -    // TEST(anyone): insert correct interfaces
    -    rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.pos));
    +  state_interfaces.emplace_back(
    +    hardware_interface::StateInterface(
    +      // TEST(anyone): insert correct interfaces
    +      rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.pos));
    @@ -84 +84,2 @@
    -    command_interfaces.emplace_back(hardware_interface::CommandInterface(
    +  command_interfaces.emplace_back(
    +    hardware_interface::CommandInterface(
    @@ -98,3 +99,3 @@
    -      // TODO maybe make ros log error
    -      std::cerr << "Error initializing pigpio" << std::endl;
    -      return CallbackReturn::ERROR;
    +    // TODO maybe make ros log error
    +    std::cerr << "Error initializing pigpio" << std::endl;
    +    return CallbackReturn::ERROR;
    @@ -102 +103,5 @@
    -    rudder_joint_.servo = std::make_unique<AngularServo>(srv_cfg_.pi, srv_cfg_.pin, srv_cfg_.min_angle, srv_cfg_.max_angle, srv_cfg_.min_pulse_width_us, srv_cfg_.max_pulse_width_us);
    +    rudder_joint_.servo = std::make_unique<AngularServo>(
    +      srv_cfg_.pi, srv_cfg_.pin,
    +      srv_cfg_.min_angle, srv_cfg_.max_angle,
    +      srv_cfg_.min_pulse_width_us,
    +      srv_cfg_.max_pulse_width_us);
    
    Code style divergence in file 'test/test_rpi_pwm_hardware_interface.cpp':
    
    --- test/test_rpi_pwm_hardware_interface.cpp
    +++ test/test_rpi_pwm_hardware_interface.cpp.uncrustify
    @@ -56 +56 @@
    -              ros2_control_test_assets::urdf_tail;
    +    ros2_control_test_assets::urdf_tail;
    
    5 files with code style divergence
    No code style divergence in file 'include/rpi_pwm_hardware_interface/visibility_control.h'
    
    -- run_test.py: return code 1
    -- run_test.py: verify result file '/home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/uncrustify.xunit.xml'
  >>>
build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/test_rpi_pwm_hardware_interface.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
- rpi_pwm_hardware_interface.TestRPiPWMHardwareInterface load_rpi_pwm_hardware_interface_2dof
  <<< failure message
    /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/test/test_rpi_pwm_hardware_interface.cpp:57
    Expected: hardware_interface::ResourceManager rm(urdf) doesn't throw an exception.
      Actual: it throws.
  >>>
build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/uncrustify.xunit.xml: 6 tests, 0 errors, 5 failures, 0 skipped
- rpi_pwm_hardware_interface.uncrustify include/rpi_pwm_hardware_interface/angular_servo.hpp
  <<< failure message
    Diff with 51 lines
  >>>
- rpi_pwm_hardware_interface.uncrustify include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
  <<< failure message
    Diff with 38 lines
  >>>
- rpi_pwm_hardware_interface.uncrustify src/angular_servo.cpp
  <<< failure message
    Diff with 195 lines
  >>>
- rpi_pwm_hardware_interface.uncrustify src/rpi_pwm_hardware_interface.cpp
  <<< failure message
    Diff with 47 lines
  >>>
- rpi_pwm_hardware_interface.uncrustify test/test_rpi_pwm_hardware_interface.cpp
  <<< failure message
    Diff with 5 lines
  >>>

Summary: 21 tests, 0 errors, 8 failures, 0 skipped

wget https://github.com/joan2937/pigpio/archive/master.zip
unzip master.zip
diff --git a/include/rpi_pwm_hardware_interface/angular_servo.hpp b/include/rpi_pwm_hardware_interface/angular_servo.hpp
index e584e52..c4ec773 100644
--- a/include/rpi_pwm_hardware_interface/angular_servo.hpp
+++ b/include/rpi_pwm_hardware_interface/angular_servo.hpp
@@ -1,31 +1,33 @@
#pragma once

-class Servo {
-	public:
-		Servo(int pi, int pin);
-		int getPulseWidth();
-		void setPulseWidth(int pulseWidth);
+class Servo
+{
+public:
+  Servo(int pi, int pin);
+  int getPulseWidth();
+  void setPulseWidth(int pulseWidth);

-		int __pi; // TODO rename to indicate public, and pigpio pi
-	protected:
-		int __pin;
+  int __pi;  // TODO rename to indicate public, and pigpio pi
+protected:
+  int __pin;
};

-class AngularServo : public Servo {
-	public:
-		AngularServo(int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs);
-		void setAngle(float angle);
-		int getAngle();
+class AngularServo : public Servo
+{
+public:
+  AngularServo(
+    int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs);
+  void setAngle(float angle);
+  int getAngle();

-	protected:
-		float __angle;
-		float __minAngle;
-		float __maxAngle;
-		int __minPulseWidthUs;
-		int __maxPulseWidthUs;
+protected:
+  float __angle;
+  float __minAngle;
+  float __maxAngle;
+  int __minPulseWidthUs;
+  int __maxPulseWidthUs;
};

bool isPigpiodRunning();
void killPigpiod();
void startPigpiod();
-
diff --git a/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp b/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
index 6f96eac..3c95ac7 100644
--- a/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
+++ b/include/rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp
@@ -20,38 +20,37 @@
#include <string>
#include <vector>

-#include "rpi_pwm_hardware_interface/angular_servo.hpp"
-#include "rpi_pwm_hardware_interface/visibility_control.h"
-#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/state.hpp"
+#include "rpi_pwm_hardware_interface/angular_servo.hpp"
+#include "rpi_pwm_hardware_interface/visibility_control.h"

namespace rpi_pwm_hardware_interface
{
class RPiPWMHardwareInterface : public hardware_interface::SystemInterface
{
-
-struct ServoConfig
-{
-  std::string name = "";
-  int pin = 0;
-  int pi = 0;
-  float min_angle = 0.0;
-  float max_angle = 0.0;
-  int min_pulse_width_us = 0;
-  int max_pulse_width_us = 0;
-};
-
-struct ServoJoint
-{
-  std::string name = "";
-  std::unique_ptr<AngularServo> servo;
-  double pos = 0;
-  double cmd = 0;
-};
+  struct ServoConfig
+  {
+    std::string name = "";
+    int pin = 0;
+    int pi = 0;
+    float min_angle = 0.0;
+    float max_angle = 0.0;
+    int min_pulse_width_us = 0;
+    int max_pulse_width_us = 0;
+  };
+
+  struct ServoJoint
+  {
+    std::string name = "";
+    std::unique_ptr<AngularServo> servo;
+    double pos = 0;
+    double cmd = 0;
+  };

public:
  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
diff --git a/src/angular_servo.cpp b/src/angular_servo.cpp
index 0ecbe12..34dbf15 100644
--- a/src/angular_servo.cpp
+++ b/src/angular_servo.cpp
@@ -1,114 +1,149 @@
-#include <iostream>
+#include "rpi_pwm_hardware_interface/angular_servo.hpp"
+#include <pigpiod_if2.h>
#include <csignal>
#include <cstdlib>
#include <functional>
-#include <pigpiod_if2.h>
-#include "rpi_pwm_hardware_interface/angular_servo.hpp"
+#include <iostream>

using namespace std;

-// TODO revisit private vs protected vars - maybe swap to private 
+// TODO revisit private vs protected vars - maybe swap to private

-Servo::Servo(int pi, int pin) {
-    __pi = pi;
-    __pin = pin;
-    int rc;
-    rc = set_mode(__pi, __pin, PI_OUTPUT);
-    if (rc < 0){
-        throw "Invalid GPIO pin or mode Error!";
-    }
-    
-    // initializing to zero with pigpio is no input
-    rc = set_servo_pulsewidth(__pi, __pin, 0);
-    if (rc < 0) {
-        throw "Invalid user GPIO pin or pulsewidth Error!";
-    }
+Servo::Servo(int pi, int pin)
+{
+  __pi = pi;
+  __pin = pin;
+  int rc;
+  rc = set_mode(__pi, __pin, PI_OUTPUT);
+  if (rc < 0)
+  {
+    throw "Invalid GPIO pin or mode Error!";
+  }
+
+  // initializing to zero with pigpio is no input
+  rc = set_servo_pulsewidth(__pi, __pin, 0);
+  if (rc < 0)
+  {
+    throw "Invalid user GPIO pin or pulsewidth Error!";
+  }
}

-int Servo::getPulseWidth() {
-    int rc = get_servo_pulsewidth(__pi, __pin);
-    if (rc < 0) {
-        throw "Invalid user GPIO pin Error!";
-    }
-    return rc;
+int Servo::getPulseWidth()
+{
+  int rc = get_servo_pulsewidth(__pi, __pin);
+  if (rc < 0)
+  {
+    throw "Invalid user GPIO pin Error!";
+  }
+  return rc;
}

-void Servo::setPulseWidth(int pulseWidth){
-    int rc = set_servo_pulsewidth(__pi, __pin, pulseWidth);
-    if (rc < 0) {
-        throw "Invalid user GPIO pin or pulsewidth Error!";
-    }
+void Servo::setPulseWidth(int pulseWidth)
+{
+  int rc = set_servo_pulsewidth(__pi, __pin, pulseWidth);
+  if (rc < 0)
+  {
+    throw "Invalid user GPIO pin or pulsewidth Error!";
+  }
}

-AngularServo::AngularServo(int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs) : Servo(pi, pin) {
-            __minAngle = minAngle;
-            __maxAngle = maxAngle;
-            __minPulseWidthUs = minPulseWidthUs;
-            __maxPulseWidthUs = maxPulseWidthUs;
+AngularServo::AngularServo(
+  int pi, int pin, float minAngle, float maxAngle, int minPulseWidthUs, int maxPulseWidthUs)
+: Servo(pi, pin)
+{
+  __minAngle = minAngle;
+  __maxAngle = maxAngle;
+  __minPulseWidthUs = minPulseWidthUs;
+  __maxPulseWidthUs = maxPulseWidthUs;
}

-void AngularServo::setAngle(float angle){
-    __angle = angle;
-    // make sure angle is within bounds
-    if (__angle < __minAngle){
-        __angle = __minAngle;
-    }
-    if (__angle > __maxAngle){
-        __angle = __maxAngle;
-    }
-    int pulseWidth = __minPulseWidthUs + (__angle - __minAngle) * (__maxPulseWidthUs - __minPulseWidthUs) / (__maxAngle - __minAngle);
+void AngularServo::setAngle(float angle)
+{
+  __angle = angle;
+  // make sure angle is within bounds
+  if (__angle < __minAngle)
+  {
+    __angle = __minAngle;
+  }
+  if (__angle > __maxAngle)
+  {
+    __angle = __maxAngle;
+  }
+  int pulseWidth = __minPulseWidthUs + (__angle - __minAngle) *
+                                         (__maxPulseWidthUs - __minPulseWidthUs) /
+                                         (__maxAngle - __minAngle);

-    setPulseWidth(pulseWidth);
+  setPulseWidth(pulseWidth);
}

-int AngularServo::getAngle(){
-    int pulseWidth = getPulseWidth();
-    float angle = __minAngle + (pulseWidth - __minPulseWidthUs) * (__maxAngle - __minAngle) / (__maxPulseWidthUs - __minPulseWidthUs);
-    return angle;
+int AngularServo::getAngle()
+{
+  int pulseWidth = getPulseWidth();
+  float angle = __minAngle + (pulseWidth - __minPulseWidthUs) * (__maxAngle - __minAngle) /
+                               (__maxPulseWidthUs - __minPulseWidthUs);
+  return angle;
}

-bool isPigpiodRunning() {
-    int result = system("pgrep pigpiod");
+bool isPigpiodRunning()
+{
+  int result = system("pgrep pigpiod");

-    if (result == 0) {
-        // pigpiod daemon is running
-        return true;
-    } else {
-        // pigpiod daemon is not running
-        return false;
-    }
+  if (result == 0)
+  {
+    // pigpiod daemon is running
+    return true;
+  }
+  else
+  {
+    // pigpiod daemon is not running
+    return false;
+  }
}

-void killPigpiod() {
-    if (isPigpiodRunning()) {
-        int result = system("sudo killall pigpiod -q");
-
-        if (result == 0) {
-            // Successfully killed the pigpiod daemon
-            cout << "pigpiod daemon killed successfully" << endl;
-        } else {
-            // An error occurred while trying to kill the pigpiod daemon
-            cerr << "Error killing pigpiod daemon. Return code: " << result << endl;
-        }
-    } else {
-        cout << "pigpiod daemon is not running" << endl;
+void killPigpiod()
+{
+  if (isPigpiodRunning())
+  {
+    int result = system("sudo killall pigpiod -q");
+
+    if (result == 0)
+    {
+      // Successfully killed the pigpiod daemon
+      cout << "pigpiod daemon killed successfully" << endl;
+    }
+    else
+    {
+      // An error occurred while trying to kill the pigpiod daemon
+      cerr << "Error killing pigpiod daemon. Return code: " << result << endl;
    }
+  }
+  else
+  {
+    cout << "pigpiod daemon is not running" << endl;
+  }
}

-void startPigpiod() {
-    if (!isPigpiodRunning()) {
-        cout << "pigpio daemon not running. attempting to start it." << endl;
-        system("sudo systemctl start pigpiod");
-        sleep(1);
-
-        if (isPigpiodRunning()) {
-            // Successfully started the pigpiod daemon
-            cout << "pigpiod daemon started successfully" << endl;
-        } else {
-            // An error occurred while trying to start the pigpiod daemon
-            cerr << "Error starting pigpiod daemon." << endl; 
-        }
-    } else {
-        cout << "pigpiod daemon is already running" << endl;
+void startPigpiod()
+{
+  if (!isPigpiodRunning())
+  {
+    cout << "pigpio daemon not running. attempting to start it." << endl;
+    system("sudo systemctl start pigpiod");
+    sleep(1);
+
+    if (isPigpiodRunning())
+    {
+      // Successfully started the pigpiod daemon
+      cout << "pigpiod daemon started successfully" << endl;
+    }
+    else
+    {
+      // An error occurred while trying to start the pigpiod daemon
+      cerr << "Error starting pigpiod daemon." << endl;
    }
+  }
+  else
+  {
+    cout << "pigpiod daemon is already running" << endl;
+  }
}
diff --git a/src/rpi_pwm_hardware_interface.cpp b/src/rpi_pwm_hardware_interface.cpp
index 35af62d..92c574f 100644
--- a/src/rpi_pwm_hardware_interface.cpp
+++ b/src/rpi_pwm_hardware_interface.cpp
@@ -[13](https://github.com/atticusrussell/ros2_rpi_pwm_hardware_interface/actions/runs/5304266181/jobs/9600463013#step:5:14),[14](https://github.com/atticusrussell/ros2_rpi_pwm_hardware_interface/actions/runs/5304266181/jobs/9600463013#step:5:15) +13,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.

-#include <limits>
#include <pigpiod_if2.h>
#include <unistd.h>
+#include <limits>
#include <vector>

-#include "rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/rclcpp.hpp"
+#include "rpi_pwm_hardware_interface/rpi_pwm_hardware_interface.hpp"

namespace rpi_pwm_hardware_interface
{
@@ -47,[16](https://github.com/atticusrussell/ros2_rpi_pwm_hardware_interface/actions/runs/5304266181/jobs/9600463013#step:5:17) +47,20 @@ hardware_interface::CallbackReturn RPiPWMHardwareInterface::on_configure(
  const rclcpp_lifecycle::State & /*previous_state*/)
{
  // TODO(anyone): prepare the robot to be ready for read calls and write calls of some interfaces
-  if (!isPigpiodRunning()) {
-        startPigpiod();
-    }
-
-  if (isPigpiodRunning()) {
-      // pigpiod daemon is running
-      return CallbackReturn::SUCCESS;
-  } else {
-      // pigpiod daemon is not running
-      return CallbackReturn::ERROR;
+  if (!isPigpiodRunning())
+  {
+    startPigpiod();
+  }
+
+  if (isPigpiodRunning())
+  {
+    // pigpiod daemon is running
+    return CallbackReturn::SUCCESS;
+  }
+  else
+  {
+    // pigpiod daemon is not running
+    return CallbackReturn::ERROR;
  }
}

@@ -71,19 +75,20 @@ hardware_interface::CallbackReturn RPiPWMHardwareInterface::on_cleanup(
std::vector<hardware_interface::StateInterface> RPiPWMHardwareInterface::export_state_interfaces()
{
  std::vector<hardware_interface::StateInterface> state_interfaces;
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
    // TEST(anyone): insert correct interfaces
    rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.pos));

  return state_interfaces;
}

-std::vector<hardware_interface::CommandInterface> RPiPWMHardwareInterface::export_command_interfaces()
+std::vector<hardware_interface::CommandInterface>
+RPiPWMHardwareInterface::export_command_interfaces()
{
  std::vector<hardware_interface::CommandInterface> command_interfaces;
-    command_interfaces.emplace_back(hardware_interface::CommandInterface(
-      // TEST(anyone): insert correct interfaces
-      rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.cmd));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(
+    // TEST(anyone): insert correct interfaces
+    rudder_joint_.name, hardware_interface::HW_IF_POSITION, &rudder_joint_.cmd));

  return command_interfaces;
}
@@ -94,12 +99,[17](https://github.com/atticusrussell/ros2_rpi_pwm_hardware_interface/actions/runs/5304266181/jobs/9600463013#step:5:18) @@ hardware_interface::CallbackReturn RPiPWMHardwareInterface::on_activate(
  // TEST(anyone): prepare the robot to receive commands
  rudder_joint_.name = srv_cfg_.name;
  srv_cfg_.pi = pigpio_start(NULL, NULL);
-  if (srv_cfg_.pi < 0) {
-      // TODO maybe make ros log error
-      std::cerr << "Error initializing pigpio" << std::endl;
-      return CallbackReturn::ERROR;
-  } else {
-    rudder_joint_.servo = std::make_unique<AngularServo>(srv_cfg_.pi, srv_cfg_.pin, srv_cfg_.min_angle, srv_cfg_.max_angle, srv_cfg_.min_pulse_width_us, srv_cfg_.max_pulse_width_us);
+  if (srv_cfg_.pi < 0)
+  {
+    // TODO maybe make ros log error
+    std::cerr << "Error initializing pigpio" << std::endl;
+    return CallbackReturn::ERROR;
+  }
+  else
+  {
+    rudder_joint_.servo = std::make_unique<AngularServo>(
+      srv_cfg_.pi, srv_cfg_.pin, srv_cfg_.min_angle, srv_cfg_.max_angle,
+      srv_cfg_.min_pulse_width_us, srv_cfg_.max_pulse_width_us);
    return CallbackReturn::SUCCESS;
  }
}
Error: Process completed with exit code 1.

$ cb
[0.474s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/atticus/workspace/publish_ws/install/rpi_pwm_hardware_interface' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.475s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/atticus/workspace/publish_ws/install/rpi_pwm_hardware_interface' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> rpi_pwm_hardware_interface
--- stderr: rpi_pwm_hardware_interface                                
/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/angular_servo.cpp: In function ‘void startPigpiod()’:
/home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/src/angular_servo.cpp:122:11: warning: ignoring return value of ‘int system(const char*)’ declared with attribute ‘warn_unused_result’ [-Wunused-result]
  122 |     system("sudo systemctl start pigpiod");
      |     ~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
---
Finished <<< rpi_pwm_hardware_interface [25.1s]

Summary: 1 package finished [25.3s]
  1 package had stderr output: rpi_pwm_hardware_interface
/home/atticus/workspace/publish_ws

$ cb
Starting >>> rpi_pwm_hardware_interface
--- stderr: rpi_pwm_hardware_interface
CMake Error at CMakeLists.txt:15 (find_library):
  Could not find PIGPIO_IF2_LIB using the following names: pigpiod_if2


---
Failed   <<< rpi_pwm_hardware_interface [8.68s, exited with code 1]

Summary: 0 packages finished [9.44s]
  1 package failed: rpi_pwm_hardware_interface
  1 package had stderr output: rpi_pwm_hardware_interface

atticus@rospi-ssh-session [publish_ws] 
~/workspace/publish_ws
12:45:11 $ colcon test-result --verbose 
build/rpi_pwm_hardware_interface/Testing/20230527-1641/Test.xml: 5 tests, 0 errors, 2 failures, 0 skipped
- test_rpi_pwm_hardware_interface
  <<< failure message
    -- run_test.py: invoking following command in '/home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface':
     - /home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/test_rpi_pwm_hardware_interface --gtest_output=xml:/home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/test_rpi_pwm_hardware_interface.gtest.xml
    Running main() from gmock_main.cc
    [==========] Running 1 test from 1 test suite.
    [----------] Global test environment set-up.
    [----------] 1 test from TestRPiPWMHardwareInterface
    [ RUN      ] TestRPiPWMHardwareInterface.load_rpi_pwm_hardware_interface_2dof
    [NON-XML-CHAR-0x1B][0m[INFO] [1685205696.057814547] [resource_manager]: Loading hardware 'RPiPWMHardwareInterface2dof' [NON-XML-CHAR-0x1B][0m
    [NON-XML-CHAR-0x1B][0m[INFO] [1685205696.094570106] [resource_manager]: Initialize hardware 'RPiPWMHardwareInterface2dof' [NON-XML-CHAR-0x1B][0m
    /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/test/test_rpi_pwm_hardware_interface.cpp:57: Failure
    Expected: hardware_interface::ResourceManager rm(urdf) doesn't throw an exception.
      Actual: it throws.
    [  FAILED  ] TestRPiPWMHardwareInterface.load_rpi_pwm_hardware_interface_2dof (59 ms)
    [----------] 1 test from TestRPiPWMHardwareInterface (59 ms total)
    
    [----------] Global test environment tear-down
    [==========] 1 test from 1 test suite ran. (59 ms total)
    [  PASSED  ] 0 tests.
    [  FAILED  ] 1 test, listed below:
    [  FAILED  ] TestRPiPWMHardwareInterface.load_rpi_pwm_hardware_interface_2dof
    
     1 FAILED TEST
    -- run_test.py: return code 1
    -- run_test.py: inject classname prefix into gtest result file '/home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/test_rpi_pwm_hardware_interface.gtest.xml'
    -- run_test.py: verify result file '/home/atticus/workspace/publish_ws/build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/test_rpi_pwm_hardware_interface.gtest.xml'
  >>>  

build/rpi_pwm_hardware_interface/test_results/rpi_pwm_hardware_interface/test_rpi_pwm_hardware_interface.gtest.xml: 1 test, 0 errors, 1 failure, 0 skipped
- rpi_pwm_hardware_interface.TestRPiPWMHardwareInterface load_rpi_pwm_hardware_interface_2dof
  <<< failure message
    /home/atticus/workspace/publish_ws/src/ros2_rpi_pwm_hardware_interface/test/test_rpi_pwm_hardware_interface.cpp:57
    Expected: hardware_interface::ResourceManager rm(urdf) doesn't throw an exception.
      Actual: it throws.
  >>>