reformat code

Author: KingRichord

infinite_sense_core/src/messenger.cpp

@@ -6,7 +6,6 @@ Messenger::Messenger() {
   context_.close();
   context_ = zmq::context_t(1);
   publisher_ = zmq::socket_t(context_, ZMQ_PUB);
-  // 关闭时不等待未发送消息
   publisher_.set(zmq::sockopt::linger, 0);
   publisher_.set(zmq::sockopt::rcvtimeo, 1000);
   try {
@@ -48,14 +47,11 @@ void Messenger::PubStruct(const std::string &topic, const void *data, const size
 }
 std::string Messenger::GetPubEndpoint() const { return endpoint_; }
 
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 std::unordered_set<std::string> TopicMonitor::GetTopics() const {
   std::lock_guard lock(topics_mutex_);
-  return topics_;  // 返回副本保证线程安全
+  return topics_;
 }
-// 启动监控线程
 void TopicMonitor::Start() {
   if (monitor_thread_.joinable()) {
     return;
@@ -64,7 +60,6 @@ void TopicMonitor::Start() {
   monitor_thread_ = std::thread(&TopicMonitor::MonitorLoop, this);
 }
 
-// 停止监控
 void TopicMonitor::Stop() {
   if (!should_run_.load()) {
     return;
@@ -92,7 +87,6 @@ TopicMonitor::~TopicMonitor() {
     LOG(ERROR) << "[TopicMonitor] Cleanup error: " << e.what();
   }
 }
-// 监控线程主循环
 void TopicMonitor::MonitorLoop() {
   zmq::message_t msg;
 
@@ -104,7 +98,6 @@ void TopicMonitor::MonitorLoop() {
           std::lock_guard lock(topics_mutex_);
           topic_frequencies_[topic]++;
         }
-        // 如果是多部分消息，跳过数据部分
         if (subscriber_.get(zmq::sockopt::rcvmore)) {
           zmq::message_t dummy;
           subscriber_.recv(dummy);

infinite_sense_core/src/net.cpp

@@ -56,7 +56,6 @@ void NetManager::Receive() const {
         if (json_data.empty()) {
           continue;
         }
-        // LOG(INFO) <<  json_data.dump();
         ptp_->ReceivePtpData(json_data);
         ProcessTriggerData(json_data);
         ProcessIMUData(json_data);

infinite_sense_core/src/ptp.cpp

@@ -23,7 +23,6 @@ void Ptp::ReceivePtpData(const nlohmann::json &data) {
         std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::system_clock::now().time_since_epoch())
             .count();
     if (updated_t1_t2_) {
-      // 发送时间偏差到从设备
       int64_t delay = static_cast<int64_t>(t4 - t3 + time_t2_ - time_t1_) / 2;
       int64_t offset = static_cast<int64_t>(time_t2_ - time_t1_ - t4 + t3) / 2;
       const nlohmann::json jsons = {
@@ -39,7 +38,6 @@ void Ptp::ReceivePtpData(const nlohmann::json &data) {
         serial_ptr_->write(reinterpret_cast<uint8_t *>(out.data()), out.size());
         updated_t1_t2_ = false;
       }
-      // std::cout << "delay: " << delay << " offset: " << offset << std::endl;
     }
   }
 }