Develop

.clang-format

@@ -1,137 +1,6 @@
 ---
-Language:        Cpp
-# BasedOnStyle:  LLVM
+IndentWidth: 2
 AccessModifierOffset: -2
-AlignAfterOpenBracket: Align
-AlignConsecutiveMacros: false
-AlignConsecutiveAssignments: false
-AlignConsecutiveDeclarations: false
-AlignEscapedNewlines: Right
-AlignOperands:   true
-AlignTrailingComments: true
-AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: Never
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: All
-AllowShortLambdasOnASingleLine: All
-AllowShortIfStatementsOnASingleLine: Never
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: false
-AlwaysBreakTemplateDeclarations: MultiLine
-BinPackArguments: true
-BinPackParameters: true
-BraceWrapping:
-  AfterCaseLabel:  false
-  AfterClass:      false
-  AfterControlStatement: false
-  AfterEnum:       false
-  AfterFunction:   false
-  AfterNamespace:  false
-  AfterObjCDeclaration: false
-  AfterStruct:     false
-  AfterUnion:      false
-  AfterExternBlock: false
-  BeforeCatch:     false
-  BeforeElse:      false
-  IndentBraces:    false
-  SplitEmptyFunction: true
-  SplitEmptyRecord: true
-  SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: None
-BreakBeforeBraces: Attach
-BreakBeforeInheritanceComma: false
-BreakInheritanceList: BeforeColon
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeColon
-BreakAfterJavaFieldAnnotations: false
-BreakStringLiterals: true
-ColumnLimit:     80
-CommentPragmas:  '^ IWYU pragma:'
-CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: false
-ConstructorInitializerIndentWidth: 4
-ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-DeriveLineEnding: true
-DerivePointerAlignment: false
-DisableFormat:   false
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: true
-ForEachMacros:
-  - foreach
-  - Q_FOREACH
-  - BOOST_FOREACH
-IncludeBlocks:   Preserve
-IncludeCategories:
-  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
-    Priority:        3
-    SortPriority:    0
-  - Regex:           '.*'
-    Priority:        1
-    SortPriority:    0
-IncludeIsMainRegex: '(Test)?$'
-IncludeIsMainSourceRegex: ''
-IndentCaseLabels: false
-IndentGotoLabels: true
-IndentPPDirectives: None
-IndentWidth:     2
-IndentWrappedFunctionNames: false
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
-KeepEmptyLinesAtTheStartOfBlocks: true
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCBinPackProtocolList: Auto
-ObjCBlockIndentWidth: 2
-ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakAssignment: 2
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakString: 1000
-PenaltyBreakTemplateDeclaration: 10
-PenaltyExcessCharacter: 1000000
-PenaltyReturnTypeOnItsOwnLine: 60
-PointerAlignment: Right
-ReflowComments:  true
-SortIncludes:    true
-SortUsingDeclarations: true
-SpaceAfterCStyleCast: false
-SpaceAfterLogicalNot: false
-SpaceAfterTemplateKeyword: true
-SpaceBeforeAssignmentOperators: true
-SpaceBeforeCpp11BracedList: false
-SpaceBeforeCtorInitializerColon: true
-SpaceBeforeInheritanceColon: true
-SpaceBeforeParens: ControlStatements
-SpaceBeforeRangeBasedForLoopColon: true
-SpaceInEmptyBlock: false
-SpaceInEmptyParentheses: false
-SpacesBeforeTrailingComments: 1
-SpacesInAngles:  false
-SpacesInConditionalStatement: false
-SpacesInContainerLiterals: true
-SpacesInCStyleCastParentheses: false
-SpacesInParentheses: false
-SpacesInSquareBrackets: false
-SpaceBeforeSquareBrackets: false
-Standard:        Latest
-StatementMacros:
-  - Q_UNUSED
-  - QT_REQUIRE_VERSION
-TabWidth:        8
-UseCRLF:         false
-UseTab:          Never
-...
-
+UseTab: Never
+ColumnLimit: 0
+NamespaceIndentation: All

.codespellignore

@@ -0,0 +1 @@
+theses

.codespellrc

@@ -0,0 +1,6 @@
+[codespell]
+# File containing words to ignore during the spell check.
+ignore-words = .codespellignore
+
+# Check file names as well.
+check-filenames = true

.github/workflows/bandit.yaml

@@ -0,0 +1,23 @@
+name: Bandit Security Scan
+
+on: [pull_request]
+
+jobs:
+  bandit:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Install bandit
+        run: |
+          python -m pip install bandit[toml]
+
+      - name: Run bandit scan
+        run: |
+          bandit -c pyproject.toml -r . --severity-level medium

.github/workflows/black.yaml

@@ -0,0 +1,23 @@
+name: Black Code Formatter Check
+
+on: [pull_request]
+
+jobs:
+  black:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Install black
+        run: |
+          python -m pip install black
+
+      - name: Run black
+        run: |
+          black --check .

.github/workflows/build-test.yaml

@@ -0,0 +1,72 @@
+name: Build and Test
+
+on: [pull_request]
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+
+      - name: Install ROS 2 Humble
+        run: |
+          sudo apt update
+          sudo apt install -y curl gnupg lsb-release
+
+          # Add the ROS 2 GPG key
+          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+          # Add the ROS 2 repository
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+          sudo apt update
+
+          # Install ROS 2 Humble desktop version
+          sudo apt install -y ros-humble-desktop
+
+      - name: Install Build Tools and Dependencies
+        run: |
+          sudo apt install -y python3-colcon-common-extensions python3-rosdep
+
+          # Initialize rosdep
+          sudo rosdep init
+          rosdep update
+
+      - name: Set up ROS 2 Workspace
+        run: |
+          mkdir -p ~/ros2_ws/src
+          cd ~/ros2_ws/src
+
+          # Copy the repository code to the workspace src folder
+          cp -r $GITHUB_WORKSPACE/* .
+
+          # Clone vortex-msgs repository
+          git clone https://github.com/vortexntnu/vortex-msgs.git
+
+          # Go back to workspace root
+          cd ~/ros2_ws
+
+      - name: Install Package Dependencies with rosdep
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ~/ros2_ws
+          rosdep install --from-paths src --ignore-src -r -y
+
+      - name: Build ROS 2 Workspace
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ~/ros2_ws
+          colcon build --event-handlers console_cohesion+
+
+      - name: Run Tests
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ~/ros2_ws
+          colcon test --event-handlers console_direct+
+
+      - name: Test Results Summary
+        run: |
+          cd ~/ros2_ws
+          colcon test-result --verbose

.github/workflows/clang-format.yaml

@@ -0,0 +1,33 @@
+name: Clang-Format Code Style Check
+
+on: [pull_request]
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Install clang-format
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-format
+
+      - name: Run clang-format check
+        run: |
+          # Find all C/C++ source and header files
+          find . -type f \( -name '*.c' -o -name '*.cpp' -o -name '*.cc' -o -name '*.cxx' -o -name '*.h' -o -name '*.hpp' -o -name '*.hh' -o -name '*.hxx' \) -print0 | xargs -0 clang-format -i
+
+          # Check if any files were modified
+          if [[ $(git status --porcelain) ]]; then
+            echo "Code is not properly formatted. Please run clang-format."
+            echo "Modified files:"
+            git status --porcelain
+            echo "Differences:"
+            git --no-pager diff
+            exit 1
+          else
+            echo "All code is properly formatted."
+          fi