Feature CI (#1)

* Added clang-format and pre-commit config * Reformatting * Added CI * Fixed Cppcheck arguments --------- Co-authored-by: Aljoscha Schmidt <[email protected]>
tu-darmstadt-ros-pkg · Jan 20, 2025 · 0c0effc · 0c0effc
1 parent 39b0e0b
commit 0c0effc
Show file tree

Hide file tree

Showing 9 changed files with 618 additions and 513 deletions.
diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,14 @@
+BasedOnStyle: LLVM
+AllowShortBlocksOnASingleLine: Always
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakTemplateDeclarations: Yes
+BreakBeforeBraces: Linux
+ColumnLimit: 100
+IndentPPDirectives: BeforeHash
+PenaltyBreakComment: 1000
+PenaltyExcessCharacter: 10
+SpaceAfterTemplateKeyword: false
+SpaceInEmptyBlock: true
+SpacesInConditionalStatement: true
+SpacesInParentheses: true
+UseTab: Never
diff --git a/.github/workflows/lint_build_test.yaml b/.github/workflows/lint_build_test.yaml
@@ -0,0 +1,66 @@
+name: CI Pipeline
+
+on:
+  push:
+    branches:
+      - ros2
+  pull_request:
+    branches:
+      - ros2
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  Linting:
+    name: Lint Code Base
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Setup
+        run: |
+          sudo apt-get update && sudo apt-get install -y clang-format cppcheck libxml2-utils
+      - name: Lint C++ code
+        run: |
+          echo "Linting C++ code..."
+          clang-format -Werror -n -style=file $(find . -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc')
+
+      - name: Run cppcheck on C++ code
+        run: |
+          echo "Running cppcheck on C++ code..."
+          cppcheck --force --quiet --error-exitcode=1 --language=c++ $(find . -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc')
+
+      - name: Lint package.xml
+        run: |
+          xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml')
+         
+
+  build-and-test:
+    needs: Linting
+    runs-on: ubuntu-latest
+    container:
+      image: ros:jazzy-ros-base
+    steps:
+      - name: install build tools
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ros-dev-tools
+      - uses: actions/checkout@v4
+        with:
+          path: src/e_stop_manager
+      - name: rosdep
+        run: |
+          rosdep update --rosdistro jazzy --include-eol-distros
+          rosdep install -y --from-paths src --ignore-src --rosdistro jazzy
+      - name: build
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build
+      - name: test
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon test --packages-select e_stop_manager
+          colcon test-result --verbose
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,25 @@
+repos:
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        name: Clang Format
+        args: [--style=file]
+        files: \.(cpp|hpp|h|c|cc)$
+
+  - repo: local
+    hooks:
+      - id: cppcheck
+        name: Cppcheck
+        entry: cppcheck --force --quiet --language=c++
+        language: system
+        types: [c, c++]
+        files: \.(cpp|hpp|h|c|cc)$
+
+  - repo: https://github.com/psf/black
+    rev: 23.1.0
+    hooks:
+      - id: black
+        name: Black
+        args: [--diff]
+        language_version: python3
diff --git a/e_stop_manager/include/e_stop_manager/e_stop_manager.h b/e_stop_manager/include/e_stop_manager/e_stop_manager.h
@@ -1,34 +1,34 @@
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/publisher.hpp"
-#include <e_stop_manager_msgs/srv/set_e_stop.hpp>
-#include <e_stop_manager_msgs/msg/e_stop_list.hpp>
+#include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/bool.hpp"
+#include <e_stop_manager_msgs/msg/e_stop_list.hpp>
+#include <e_stop_manager_msgs/srv/set_e_stop.hpp>
 
 namespace e_stop_manager
 {
 
-    class EStopManager
-    {
-    public:
-        explicit EStopManager(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
-
-        // required if not subclassing Node, see https://github.com/ros2/demos/blob/humble/composition/src/node_like_listener_component.cpp
-        rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() const {
-            return this->node_->get_node_base_interface();
-        }
-    private:
-        void publishEStops( bool force_e_stop = false );
+class EStopManager
+{
+public:
+  explicit EStopManager( const rclcpp::NodeOptions &options = rclcpp::NodeOptions() );
 
-        bool setEStopServiceCB(const std::shared_ptr<e_stop_manager_msgs::srv::SetEStop::Request> request,
-                                std::shared_ptr<e_stop_manager_msgs::srv::SetEStop::Response> response );
+  // required if not subclassing Node, see https://github.com/ros2/demos/blob/humble/composition/src/node_like_listener_component.cpp
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() const
+  {
+    return this->node_->get_node_base_interface();
+  }
 
+private:
+  void publishEStops( bool force_e_stop = false );
 
+  bool setEStopServiceCB( const std::shared_ptr<e_stop_manager_msgs::srv::SetEStop::Request> request,
+                          std::shared_ptr<e_stop_manager_msgs::srv::SetEStop::Response> response );
 
-        rclcpp::Service<e_stop_manager_msgs::srv::SetEStop>::SharedPtr set_e_stop_service_;
+  rclcpp::Service<e_stop_manager_msgs::srv::SetEStop>::SharedPtr set_e_stop_service_;
 
-        e_stop_manager_msgs::msg::EStopList e_stop_list_msg_;
-        rclcpp::Publisher<e_stop_manager_msgs::msg::EStopList>::SharedPtr e_stop_list_pub_;
-        std::map<std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>>, std::vector<std::string> > e_stop_pub_;
-        rclcpp::Node::SharedPtr node_;
-    };
-}
+  e_stop_manager_msgs::msg::EStopList e_stop_list_msg_;
+  rclcpp::Publisher<e_stop_manager_msgs::msg::EStopList>::SharedPtr e_stop_list_pub_;
+  std::map<std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>>, std::vector<std::string>> e_stop_pub_;
+  rclcpp::Node::SharedPtr node_;
+};
+} // namespace e_stop_manager
diff --git a/e_stop_manager/package.xml b/e_stop_manager/package.xml
@@ -1,26 +1,20 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>e_stop_manager</name>
   <version>1.0.0</version>
   <description>The e_stop_manager package</description>
 
-  <maintainer email="katrin.becker.17@stud-tu-darmstadt.de">Katrin</maintainer>
+  <maintainer email="aljoscha.schmidt@tu-darmstadt.de">Aljoscha Schmidt</maintainer>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>TODO</license>
 
-
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>std_msgs</depend>
   <depend>e_stop_manager_msgs</depend>
   <depend>rclcpp_components</depend>
   <test_depend>ros_testing</test_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
     <build_type>ament_cmake</build_type>
   </export>
 </package>