Merge pull request #68 from Team766/Add-Linter

create yml workflow to ensure code is linted and lint it if it isn't. CLOSES PLANE 209

.github/workflows/cpp-linter.yml

@@ -0,0 +1,68 @@
+name: C++ Lint and Auto-Fix
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: write  # Required for pushing auto-fix commits
+
+jobs:
+  lint:
+    name: Lint C++ Code
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref }}  # Checkout the correct branch
+          fetch-depth: 0  # Ensure full commit history for pushing changes
+
+      - name: Install clang-format and cppcheck
+        run: sudo apt-get install -y clang-format cppcheck
+
+      - name: Run clang-format and fix issues
+        run: |
+          FILES=$(find . -type f \( -name "*.cpp" -o -name "*.hpp" -o -name "*.h" \) | tr '\n' ' ')
+          if [ -z "$FILES" ]; then
+            echo "No C++ source files found. Skipping clang-format."
+            exit 0
+          fi
+
+          clang-format -i $FILES
+          git config --global user.name 'github-actions[bot]'
+          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+
+          # Ensure we are on the correct branch
+          git checkout ${{ github.head_ref }}
+
+          git add .
+          if ! git diff --cached --quiet; then
+            git commit -m "Auto-format C++ code using clang-format"
+            git push origin ${{ github.head_ref }}
+          fi
+
+      - name: Run cppcheck (C++ Mode)
+        run: |
+          FILES=$(find . -type f \( -name "*.cpp" -o -name "*.hpp" -o -name "*.h" \) | tr '\n' ' ')
+          if [ -z "$FILES" ]; then
+            echo "No C++ source files found. Skipping cppcheck."
+            exit 0
+          fi
+          
+          echo "Running cppcheck on: $FILES"
+          cppcheck --enable=all --error-exitcode=1 --inline-suppr --force --quiet --language=c++ \
+            --suppress=missingInclude \
+            --suppress=missingIncludeSystem \
+            --suppress=unusedStructMember \
+            --suppress=noExplicitConstructor \
+            --suppress=passedByValue \
+            --suppress=useInitializationList \
+            --suppress=cstyleCast \
+            --suppress=unusedFunction \
+            --suppress=unmatchedSuppression $FILES

src/BooleanValueSender.h

@@ -8,11 +8,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class BooleanValueSender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::BooleanPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   BooleanValueSender(std::string key);
 

src/DoubleArraySender.h

@@ -9,11 +9,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class DoubleArraySender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::DoubleArrayPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   DoubleArraySender(std::string key);
 

src/DoubleValueSender.h

@@ -8,11 +8,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class DoubleValueSender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::DoublePublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   DoubleValueSender(std::string key);
 

src/IntegerArraySender.h

@@ -10,11 +10,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class IntegerArraySender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::IntegerArrayPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   IntegerArraySender(std::string key);
 

src/IntegerValueSender.h

@@ -8,11 +8,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class IntegerValueSender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::IntegerPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   IntegerValueSender(std::string key);
 

src/NetworkTablesConfig.h

@@ -1,7 +1,7 @@
 #ifndef NETWORK_TABLES_CONFIG_H_
 #define NETWORK_TABLES_CONFIG_H_
 
-inline const char* TABLE_ADDRESS = "10.7.66.2";
-inline const char* TABLE_NAME = "/SmartDashboard";
+inline const char *TABLE_ADDRESS = "10.7.66.2";
+inline const char *TABLE_NAME = "/SmartDashboard";
 
 #endif

src/NetworkTablesUtil.cpp

@@ -3,11 +3,9 @@
 #include "NetworkTablesConfig.h"
 
 NetworkTablesUtil::NetworkTablesUtil() {
-//   inst_ = nt::NetworkTableInstance::GetDefault();
-//   inst_.SetServer(TABLE_ADDRESS);
-//   inst_.StartClient4(TABLE_ADDRESS);
+  //   inst_ = nt::NetworkTableInstance::GetDefault();
+  //   inst_.SetServer(TABLE_ADDRESS);
+  //   inst_.StartClient4(TABLE_ADDRESS);
 }
 
-double NetworkTablesUtil::getTime() {
-  return wpi::GetSystemTime();
-}
+double NetworkTablesUtil::getTime() { return wpi::GetSystemTime(); }

src/NetworkTablesUtil.h

@@ -1,16 +1,15 @@
 #ifndef NETWORKTABLESUTIL_H
 #define NETWORKTABLESUTIL_H
 
-
-//#include "networktables/NetworkTable.h"
-//#include "networktables/NetworkTableInstance.h"
+// #include "networktables/NetworkTable.h"
+// #include "networktables/NetworkTableInstance.h"
 #include "wpi/timestamp.h"
 
 class NetworkTablesUtil {
- //private:
-  //nt::NetworkTableInstance inst_;
+  // private:
+  // nt::NetworkTableInstance inst_;
 
- public:
+public:
   // Constructor declaration
   NetworkTablesUtil();
 

src/apriltag_gpu.h

@@ -15,7 +15,7 @@ namespace frc971::apriltag {
 
 // Class to find the blob index of a point in a point vector.
 class BlobExtentsIndexFinder {
- public:
+public:
   BlobExtentsIndexFinder(const MinMaxExtents *extents_device,
                          size_t num_extents)
       : extents_device_(extents_device), num_extents_(num_extents) {}
@@ -45,7 +45,7 @@ class BlobExtentsIndexFinder {
     return extents_device_[index];
   }
 
- private:
+private:
   const MinMaxExtents *extents_device_;
   size_t num_extents_;
 
@@ -75,7 +75,7 @@ struct DistCoeffs {
 
 // GPU based april tag detector.
 class GpuDetector {
- public:
+public:
   // The number of blobs we will consider when counting april tags.
   static constexpr size_t kMaxBlobs = IndexPoint::kMaxBlobs;
 
@@ -138,8 +138,8 @@ class GpuDetector {
     return extents_device_.Copy(NumQuads());
   }
 
-  std::vector<cub::KeyValuePair<long, MinMaxExtents>> CopySelectedExtents()
-      const {
+  std::vector<cub::KeyValuePair<long, MinMaxExtents>>
+  CopySelectedExtents() const {
     return selected_extents_device_.Copy(NumQuads());
   }
 
@@ -199,7 +199,7 @@ class GpuDetector {
   static bool UnDistort(double *u, double *v, const CameraMatrix *camera_matrix,
                         const DistCoeffs *distortion_coefficients);
 
- private:
+private:
   void UpdateFitQuads();
 
   void AdjustPixelCenters();
@@ -209,8 +209,7 @@ class GpuDetector {
   static void QuadDecodeTask(void *_u);
 
   // Creates a GPU image wrapped around the provided memory.
-  template <typename T>
-  GpuImage<T> ToGpuImage(GpuMemory<T> &memory) {
+  template <typename T> GpuImage<T> ToGpuImage(GpuMemory<T> &memory) {
     if (memory.size() == width_ * height_) {
       return GpuImage<T>{
           .data = memory.get(),
@@ -359,6 +358,6 @@ class GpuDetector {
   zarray_t *detections_ = nullptr;
 };
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_APRILTAG_H_
+#endif // FRC971_ORIN_APRILTAG_H_

src/cameraexception.h

@@ -2,8 +2,8 @@
 #define CAMERAEXCEPTION_H_
 
 class CameraException : public std::exception {
- public:
-  const char* what() const noexcept override {
+public:
+  const char *what() const noexcept override {
     return "Error: No camera detected.";
   }
 };

src/cuda_frc971.h

@@ -11,17 +11,17 @@
 // CHECKs that a cuda method returned success.
 // TODO(austin): This will not handle if and else statements quite right, fix if
 // we care.
-#define CHECK_CUDA(condition)                                             \
-  if (auto c = condition)                                                 \
-  LOG(FATAL) << "Check failed: " #condition " (" << cudaGetErrorString(c) \
+#define CHECK_CUDA(condition)                                                  \
+  if (auto c = condition)                                                      \
+  LOG(FATAL) << "Check failed: " #condition " (" << cudaGetErrorString(c)      \
              << ") "
 
 namespace frc971::apriltag {
 
 // Class to manage the lifetime of a Cuda stream.  This is used to provide
 // relative ordering between kernels on the same stream.
 class CudaStream {
- public:
+public:
   CudaStream() { CHECK_CUDA(cudaStreamCreate(&stream_)); }
 
   CudaStream(const CudaStream &) = delete;
@@ -32,14 +32,14 @@ class CudaStream {
   // Returns the stream.
   cudaStream_t get() { return stream_; }
 
- private:
+private:
   cudaStream_t stream_;
 };
 
 // Class to manage the lifetime of a Cuda Event.  Cuda events are used for
 // timing events on a stream.
 class CudaEvent {
- public:
+public:
   CudaEvent() { CHECK_CUDA(cudaEventCreate(&event_)); }
 
   CudaEvent(const CudaEvent &) = delete;
@@ -64,15 +64,14 @@ class CudaEvent {
   // Waits until the event has been triggered.
   void Synchronize() { CHECK_CUDA(cudaEventSynchronize(event_)); }
 
- private:
+private:
   cudaEvent_t event_;
 };
 
 // Class to manage the lifetime of page locked host memory for fast copies back
 // to host memory.
-template <typename T>
-class HostMemory {
- public:
+template <typename T> class HostMemory {
+public:
   // Allocates a block of memory for holding up to size objects of type T.
   HostMemory(size_t size) {
     T *memory;
@@ -100,14 +99,13 @@ class HostMemory {
     memcpy(other, span_.data(), sizeof(T) * size());
   }
 
- private:
+private:
   std::span<T> span_;
 };
 
 // Class to manage the lifetime of device memory.
-template <typename T>
-class GpuMemory {
- public:
+template <typename T> class GpuMemory {
+public:
   // Allocates a block of memory for holding up to size objects of type T in
   // device memory.
   GpuMemory(size_t size) : size_(size) {
@@ -190,7 +188,7 @@ class GpuMemory {
   // it.
   std::vector<T> Copy() const { return Copy(size_); }
 
- private:
+private:
   T *memory_;
   const size_t size_;
 };
@@ -203,6 +201,6 @@ void CheckAndSynchronize(std::string_view message = "");
 void MaybeCheckAndSynchronize();
 void MaybeCheckAndSynchronize(std::string_view message);
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_CUDA_H_
+#endif // FRC971_ORIN_CUDA_H_

src/gpu_image.h

@@ -1,8 +1,7 @@
 #ifndef FRC971_ORIN_GPU_IMAGE_H_
 #define FRC971_ORIN_GPU_IMAGE_H_
 
-template <typename T>
-struct GpuImage {
+template <typename T> struct GpuImage {
   typedef T type;
   T *data;
   size_t rows;
@@ -11,4 +10,4 @@ struct GpuImage {
   size_t step;
 };
 
-#endif  // FRC971_ORIN_GPU_IMAGE_H_
+#endif // FRC971_ORIN_GPU_IMAGE_H_

src/json_test.cpp

@@ -5,9 +5,8 @@
 #include <nlohmann/json.hpp>
 using json = nlohmann::json;
 int main(void) {
-  std::ifstream f(
-      "/home/nvidia/code/OrinVisionSystem/cameracalibration/"
-      "calibrationmatrix.json");
+  std::ifstream f("/home/nvidia/code/OrinVisionSystem/cameracalibration/"
+                  "calibrationmatrix.json");
   json data = json::parse(f);
   std::cout << "Matrix: " << std::endl;
   for (int i = 0; i < 3; ++i) {

src/labeling_allegretti_2019_BKE.h

@@ -10,4 +10,4 @@ void LabelImage(const GpuImage<uint8_t> input, GpuImage<uint32_t> output,
                 GpuImage<uint32_t> union_markers_size_device,
                 cudaStream_t stream);
 
-#endif  // FRC971_ORIN_LABELING_ALLEGRETTI_2019_BKE_H_
+#endif // FRC971_ORIN_LABELING_ALLEGRETTI_2019_BKE_H_