diff --git a/.github/workflows/README.md b/.github/workflows/README.md index 8001a73e..148ccb0d 100644 --- a/.github/workflows/README.md +++ b/.github/workflows/README.md @@ -2,8 +2,8 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages :---------: | :----: | :----------: | :-----------: | :---------------: -**Rolling** | [`rolling`](https://github.com/ros-controls/realtime_tools/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-main.yml?branch=master)
[![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-testing.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-main.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master)
[![Rolling Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) | | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling) -**Humble** | [`humble`](https://github.com/ros-controls/realtime_tools/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-main.yml?branch=master)
[![Humble Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-testing.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-main.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-testing.yml?branch=master)
[![Humble Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml?branch=master) | | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble) +**Rolling**
**Iron**
**Humble** | [`rolling`](https://github.com/ros-controls/realtime_tools/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/semi-binary-build.yml?branch=master)
[![Rolling Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling) + ### Explanation of different build types diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 2c6efb42..fac54d19 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -11,39 +11,8 @@ on: jobs: coverage: name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: rolling - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed in the meta package - package-name: - realtime_tools - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/realtime_tools-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - with: - name: colcon-logs-coverage-rolling - path: ros_ws/log + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: rolling + os_name: ubuntu-22.04 diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml deleted file mode 100644 index a1749c64..00000000 --- a/.github/workflows/ci-format.yml +++ /dev/null @@ -1,23 +0,0 @@ -# This is a format job. Pre-commit has a first-party GitHub action, so we use -# that: https://github.com/pre-commit/action - -name: Format - -on: - workflow_dispatch: - pull_request: - -jobs: - pre-commit: - name: Format - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5.0.0 - with: - python-version: '3.10' - - name: Install system hooks - run: sudo apt install -qq clang-format-14 cppcheck - - uses: pre-commit/action@v3.0.1 - with: - extra_args: --all-files --hook-stage manual diff --git a/.github/workflows/ci-pre-commit.yml b/.github/workflows/ci-pre-commit.yml new file mode 100644 index 00000000..b0f523d6 --- /dev/null +++ b/.github/workflows/ci-pre-commit.yml @@ -0,0 +1,18 @@ +name: Pre-Commit + +on: + workflow_dispatch: + pull_request: + branches: + - master + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + strategy: + fail-fast: false + matrix: + ROS_DISTRO: [rolling, iron, humble] + with: + ros_distro: ${{ matrix.ROS_DISTRO }} + os_name: ubuntu-22.04 diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml deleted file mode 100644 index 38a51c65..00000000 --- a/.github/workflows/ci-ros-lint.yml +++ /dev/null @@ -1,59 +0,0 @@ -name: ROS Lint -on: - pull_request: - -jobs: - ament_lint: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [copyright, lint_cmake] - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: rolling - linter: ${{ matrix.linter }} - package-name: - realtime_tools - - ament_cpplint: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [cpplint] - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: rolling - linter: cpplint - arguments: "--linelength=100 --filter=-whitespace/newline" - package-name: - realtime_tools - - ament_cppcheck: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [cppcheck] - env: - AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: rolling - linter: ${{ matrix.linter }} - arguments: "--language=c++" - package-name: - realtime_tools diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml new file mode 100644 index 00000000..8b9545df --- /dev/null +++ b/.github/workflows/update-pre-commit.yml @@ -0,0 +1,12 @@ +name: Auto Update pre-commit +# Update pre-commit config and create PR if changes are detected +# author: Christoph Fröhlich + +on: + workflow_dispatch: + schedule: + - cron: '0 0 * * 0' # Run every Sunday at midnight + +jobs: + auto_update_and_create_pr: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 9e166c26..d86df27f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,4 @@ + # To use: # # pre-commit run -a @@ -15,7 +16,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v4.5.0 hooks: - id: check-added-large-files - id: check-ast @@ -29,69 +30,58 @@ repos: - id: end-of-file-fixer - id: mixed-line-ending - id: trailing-whitespace + exclude_types: [rst] - id: fix-byte-order-marker + # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v3.3.1 + rev: v3.15.1 hooks: - id: pyupgrade args: [--py36-plus] - - repo: https://github.com/psf/black - rev: 22.12.0 - hooks: - - id: black - args: ["--line-length=99"] - # PyDocStyle - repo: https://github.com/PyCQA/pydocstyle - rev: 6.2.2 + rev: 6.3.0 hooks: - id: pydocstyle args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] + - repo: https://github.com/psf/black + rev: 24.2.0 + hooks: + - id: black + args: ["--line-length=99"] + - repo: https://github.com/pycqa/flake8 - rev: 6.0.0 + rev: 7.0.0 hooks: - id: flake8 - args: ["--ignore=E501"] + args: ["--extend-ignore=E501"] # CPP hooks - - repo: local + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v17.0.6 hooks: - id: clang-format - name: clang-format - description: Format files with ClangFormat. - entry: clang-format-14 - language: system - files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$ args: ['-fallback-style=none', '-i'] - # The same options as in ament_cppcheck are used, but its not working... - #- repo: https://github.com/pocc/pre-commit-hooks - #rev: v1.1.1 - #hooks: - #- id: cppcheck - #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose'] - repo: local hooks: - id: ament_cppcheck name: ament_cppcheck description: Static code analysis of C/C++ files. - stages: [commit] - entry: ament_cppcheck + entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck language: system files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ args: ['--language=c++'] - # Maybe use https://github.com/cpplint/cpplint instead - repo: local hooks: - id: ament_cpplint name: ament_cpplint description: Static code analysis of C/C++ files. - stages: [commit] entry: ament_cpplint language: system files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ @@ -103,7 +93,6 @@ repos: - id: ament_lint_cmake name: ament_lint_cmake description: Check format of CMakeLists.txt files. - stages: [commit] entry: ament_lint_cmake language: system files: CMakeLists\.txt$ @@ -114,7 +103,6 @@ repos: - id: ament_copyright name: ament_copyright description: Check if copyright notice is available in all files. - stages: [commit] entry: ament_copyright language: system @@ -127,7 +115,7 @@ repos: exclude: CHANGELOG\.rst$ - repo: https://github.com/pre-commit/pygrep-hooks - rev: v1.9.0 + rev: v1.10.0 hooks: - id: rst-backticks exclude: CHANGELOG\.rst$ @@ -137,8 +125,18 @@ repos: # Spellcheck in comments and docs # skipping of *.svg files is not working... - repo: https://github.com/codespell-project/codespell - rev: v2.2.2 + rev: v2.2.6 hooks: - id: codespell args: ['--write-changes'] - exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$ + exclude: CHANGELOG\.rst|\.(svg|pyc)$ + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.28.0 + hooks: + - id: check-github-workflows + args: ["--verbose"] + - id: check-github-actions + args: ["--verbose"] + - id: check-dependabot + args: ["--verbose"] diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index a1410739..d5670e05 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -52,3 +52,12 @@ Looking at the existing issues is a great way to find something to contribute on As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues is a great place to start. + +## Licensing +Any contribution that you make to this repository will +be under the 3-Clause BSD License, as dictated by that +[license](https://opensource.org/licenses/BSD-3-Clause). + +[issues]: https://github.com/ros-controls/realtime_tools/issues +[closed-issues]: https://github.com/ros-controls/realtime_tools/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20 +[help-wanted]: https://github.com/ros-controls/realtime_tools/issues?q=is%3Aopen+is%3Aissue+label%3A%22help+wanted%22 diff --git a/README.md b/README.md index 13e5bdcb..6564534b 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,8 @@ realtime_tools =========== +[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) [![codecov](https://codecov.io/gh/ros-controls/realtime_tools/branch/master/graph/badge.svg?token=Osge1FOaAh)](https://app.codecov.io/gh/ros-controls/realtime_tools/tree/master) -See [control.ros.org](http://control.ros.org) and [realtime_tools](http://wiki.ros.org/realtime_tools) documentation on ros.org - ## Build status ROS2 Distro | Branch | Build status | Documentation | Released packages diff --git a/test/realtime_server_goal_handle_tests.cpp b/test/realtime_server_goal_handle_tests.cpp index 93d3eee2..69631d35 100644 --- a/test/realtime_server_goal_handle_tests.cpp +++ b/test/realtime_server_goal_handle_tests.cpp @@ -124,7 +124,7 @@ struct ActionClientCallbacks std::shared_ptr send_goal( rclcpp::Node::SharedPtr node, std::shared_ptr> ac, - const std::string & server_name, ActionClientCallbacks & client_callbacks) + const std::string & /*server_name*/, ActionClientCallbacks & client_callbacks) { for (size_t i = 0; i < ATTEMPTS && !ac->action_server_is_ready(); ++i) { rclcpp::spin_some(node);