Add cmake formatting

bit-bots · Jan 20, 2024 · 61dce4b · 61dce4b
1 parent 0ea50d2
commit 61dce4b
Showing 33 changed files with 617 additions and 655 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -13,30 +13,27 @@ jobs:
     steps:
       - name: Set up ROS ecosystem
         uses: ros-tooling/setup-ros@v0.7
+
       - name: Check out repository
         uses: actions/checkout@v3
+
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_meta/bitbots_meta
-      - name: Pull our software
-        run: make pull-init HTTPS=true
-      - name: Install proprietary basler drivers
-        run: make basler ARGS="-ci"
-      - name: Install packages via rosdep
-        run: |
-          rosdep update
-          sudo apt install -y libunwind-dev
-          # Small hack to make rosdep install all dependencies at once
-          # See https://github.com/ros-infrastructure/rosdep/issues/671
-          bash -c "sudo apt install -y $(rosdep check --from-paths . --ignore-src --rosdistro iron | sed -n 's/^apt\s\+//p' | tr '\n' ' ')"
+
+      - name: Pull source code for libraries and install dependencies
+        run: make install HTTPS=true ARGS="-ci"
+
       - name: Set up colcon workspace
         run: |
           mkdir -p /colcon_ws/src
           ln -s $(realpath .) /colcon_ws/src/bitbots_meta
+
       - name: Build packages
         run: |
           . /opt/ros/iron/setup.sh
           colcon build --symlink-install
         working-directory: /colcon_ws
+
       - name: Test packages
         run: |
           # Source workspace

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,25 +1,30 @@
 repos:
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.1.6
-  hooks:
-    - id: ruff
-      args:
-        - "--fix"
-        - "--exit-non-zero-on-fix"
-- repo: https://github.com/psf/black
-  rev: 23.10.0  # keep this version for Ubuntu support
-  hooks:
-    - id: black
-- repo: https://github.com/pocc/pre-commit-hooks
-  rev: v1.3.5
-  hooks:
-    - id: clang-format
-      args:
-        - "-i"
-    - id: cppcheck
-      args:
-        - "--suppress=missingInclude"
-        - "--suppress=unmatchedSuppression"
-        - "--suppress=unusedFunction"
-        - "--suppress=unusedStructMember"
-        - "--suppress=useStlAlgorithm"
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.1.6
+    hooks:
+      - id: ruff
+        args:
+          - "--fix"
+          - "--exit-non-zero-on-fix"
+  - repo: https://github.com/psf/black
+    rev: 23.10.0  # keep this version for Ubuntu support
+    hooks:
+      - id: black
+  - repo: https://github.com/pocc/pre-commit-hooks
+    rev: v1.3.5
+    hooks:
+      - id: clang-format
+        args:
+          - "-i"
+      - id: cppcheck
+        args:
+          - "--suppress=missingInclude"
+          - "--suppress=unmatchedSuppression"
+          - "--suppress=unusedFunction"
+          - "--suppress=unusedStructMember"
+          - "--suppress=useStlAlgorithm"
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
diff --git a/Makefile b/Makefile
@@ -72,9 +72,7 @@ endif
 rosdep:
 	# Update rosdep and install dependencies from meta directory
 	rosdep update
-	# Small hack to make rosdep install all dependencies at once
-	# See https://github.com/ros-infrastructure/rosdep/issues/671
-	bash -c "sudo apt install -y $(rosdep check --from-paths . --ignore-src --rosdistro iron | sed -n 's/^apt\s\+//p' | tr '\n' ' ')"
+	rosdep install --from-paths . --ignore-src --rosdistro iron -y
 
 status:
 	# Show status of all repositories

diff --git a/bitbots_behavior/bitbots_blackboard/CMakeLists.txt b/bitbots_behavior/bitbots_blackboard/CMakeLists.txt
@@ -18,28 +18,47 @@ find_package(std_srvs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(bitbots_docs REQUIRED)
 
-set(INCLUDE_DIRS ${bio_ik_msgs_INCLUDE_DIRS} ${ament_cmake_INCLUDE_DIRS}
-  ${sensor_msgs_INCLUDE_DIRS}
-  ${rclpy_INCLUDE_DIRS} ${tf2_INCLUDE_DIRS} ${bitbots_msgs_INCLUDE_DIRS}
-  ${std_msgs_INCLUDE_DIRS} ${tf2_geometry_msgs_INCLUDE_DIRS}
-  ${std_srvs_INCLUDE_DIRS} ${geometry_msgs_INCLUDE_DIRS}
-  ${bitbots_docs_INCLUDE_DIRS})
+set(INCLUDE_DIRS
+    ${bio_ik_msgs_INCLUDE_DIRS}
+    ${ament_cmake_INCLUDE_DIRS}
+    ${sensor_msgs_INCLUDE_DIRS}
+    ${rclpy_INCLUDE_DIRS}
+    ${tf2_INCLUDE_DIRS}
+    ${bitbots_msgs_INCLUDE_DIRS}
+    ${std_msgs_INCLUDE_DIRS}
+    ${tf2_geometry_msgs_INCLUDE_DIRS}
+    ${std_srvs_INCLUDE_DIRS}
+    ${geometry_msgs_INCLUDE_DIRS}
+    ${bitbots_docs_INCLUDE_DIRS})
 include_directories(${INCLUDE_DIRS})
 
-set(LIBRARY_DIRS ${bio_ik_msgs_LIBRARY_DIRS} ${ament_cmake_LIBRARY_DIRS}
-  ${sensor_msgs_LIBRARY_DIRS}
-  ${rclpy_LIBRARY_DIRS} ${tf2_LIBRARY_DIRS} ${bitbots_msgs_LIBRARY_DIRS}
-  ${std_msgs_LIBRARY_DIRS} ${tf2_geometry_msgs_LIBRARY_DIRS}
-  ${std_srvs_LIBRARY_DIRS} ${geometry_msgs_LIBRARY_DIRS}
-  ${bitbots_docs_LIBRARY_DIRS})
+set(LIBRARY_DIRS
+    ${bio_ik_msgs_LIBRARY_DIRS}
+    ${ament_cmake_LIBRARY_DIRS}
+    ${sensor_msgs_LIBRARY_DIRS}
+    ${rclpy_LIBRARY_DIRS}
+    ${tf2_LIBRARY_DIRS}
+    ${bitbots_msgs_LIBRARY_DIRS}
+    ${std_msgs_LIBRARY_DIRS}
+    ${tf2_geometry_msgs_LIBRARY_DIRS}
+    ${std_srvs_LIBRARY_DIRS}
+    ${geometry_msgs_LIBRARY_DIRS}
+    ${bitbots_docs_LIBRARY_DIRS})
 
 link_directories(${LIBRARY_DIRS})
 
-set(LIBS ${bio_ik_msgs_LIBRARIES} ${ament_cmake_LIBRARIES}
-  ${sensor_msgs_LIBRARIES} ${rclpy_LIBRARIES}
-  ${tf2_LIBRARIES} ${bitbots_msgs_LIBRARIES} ${std_msgs_LIBRARIES}
-  ${tf2_geometry_msgs_LIBRARIES} ${std_srvs_LIBRARIES} ${geometry_msgs_LIBRARIES}
-  ${bitbots_docs_LIBRARIES})
+set(LIBS
+    ${bio_ik_msgs_LIBRARIES}
+    ${ament_cmake_LIBRARIES}
+    ${sensor_msgs_LIBRARIES}
+    ${rclpy_LIBRARIES}
+    ${tf2_LIBRARIES}
+    ${bitbots_msgs_LIBRARIES}
+    ${std_msgs_LIBRARIES}
+    ${tf2_geometry_msgs_LIBRARIES}
+    ${std_srvs_LIBRARIES}
+    ${geometry_msgs_LIBRARIES}
+    ${bitbots_docs_LIBRARIES})
 
 include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()

diff --git a/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt b/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt
@@ -17,22 +17,21 @@ find_package(std_srvs REQUIRED)
 find_package(test_msgs REQUIRED)
 
 add_executable(button_node src/button_node.cpp)
-ament_target_dependencies(button_node
-        ament_cmake
-        backward_ros
-        bitbots_msgs
-        bitbots_localization
-        rclcpp
-        std_msgs
-        std_srvs
-        test_msgs)
-
-#enable_bitbots_docs()
-
-
-install(TARGETS button_node
-        DESTINATION lib/${PROJECT_NAME})
-install(DIRECTORY config  DESTINATION share/${PROJECT_NAME})
+ament_target_dependencies(
+  button_node
+  ament_cmake
+  backward_ros
+  bitbots_msgs
+  bitbots_localization
+  rclcpp
+  std_msgs
+  std_srvs
+  test_msgs)
+
+# enable_bitbots_docs()
+
+install(TARGETS button_node DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_export_dependencies(std_msgs)

diff --git a/bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt b/bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt
@@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 project(bitbots_ros_control)
 
 # Add support for C++17
-if (NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 17)
-endif ()
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
@@ -26,72 +26,72 @@ find_package(tf2_ros REQUIRED)
 find_package(transmission_interface REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
-
 set(INCLUDE_DIRS include)
 include_directories(${INCLUDE_DIRS})
 
 set(CMAKE_CXX_STANDARD 17)
 add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra)
 
-
 set(SOURCES
-        src/bitfoot_hardware_interface.cpp
-        src/button_hardware_interface.cpp
-        src/core_hardware_interface.cpp
-        src/dynamixel_servo_hardware_interface.cpp
-        src/imu_hardware_interface.cpp
-        src/leds_hardware_interface.cpp
-        src/node.cpp
-        src/servo_bus_interface.cpp
-        src/utils.cpp
-        src/wolfgang_hardware_interface.cpp
-        include/bitbots_ros_control/hardware_interface.hpp)
+    src/bitfoot_hardware_interface.cpp
+    src/button_hardware_interface.cpp
+    src/core_hardware_interface.cpp
+    src/dynamixel_servo_hardware_interface.cpp
+    src/imu_hardware_interface.cpp
+    src/leds_hardware_interface.cpp
+    src/node.cpp
+    src/servo_bus_interface.cpp
+    src/utils.cpp
+    src/wolfgang_hardware_interface.cpp
+    include/bitbots_ros_control/hardware_interface.hpp)
 
 enable_bitbots_docs()
 
 add_executable(ros_control ${SOURCES})
-ament_target_dependencies(ros_control
-        ament_cmake
-        backward_ros
-        bitbots_buttons
-        bitbots_docs
-        bitbots_msgs
-        controller_interface
-        controller_manager
-        diagnostic_msgs
-        dynamixel_workbench_toolbox
-        hardware_interface
-        pluginlib
-        rclcpp
-        realtime_tools
-        rosidl_typesupport_cpp
-        std_msgs
-        std_srvs
-        tf2_ros
-        transmission_interface
-        yaml-cpp)
+ament_target_dependencies(
+  ros_control
+  ament_cmake
+  backward_ros
+  bitbots_buttons
+  bitbots_docs
+  bitbots_msgs
+  controller_interface
+  controller_manager
+  diagnostic_msgs
+  dynamixel_workbench_toolbox
+  hardware_interface
+  pluginlib
+  rclcpp
+  realtime_tools
+  rosidl_typesupport_cpp
+  std_msgs
+  std_srvs
+  tf2_ros
+  transmission_interface
+  yaml-cpp)
 
 add_executable(pressure_converter src/pressure_converter.cpp)
-ament_target_dependencies(pressure_converter
-        ament_cmake
-        backward_ros
-        bitbots_buttons
-        bitbots_docs
-        bitbots_msgs
-        controller_interface
-        controller_manager
-        diagnostic_msgs
-        dynamixel_workbench_toolbox
-        hardware_interface
-        pluginlib
-        rclcpp
-        realtime_tools
-        rosidl_typesupport_cpp
-        std_msgs
-        std_srvs
-        tf2_ros
-        transmission_interface
-        yaml-cpp)
+ament_target_dependencies(
+  pressure_converter
+  ament_cmake
+  backward_ros
+  bitbots_buttons
+  bitbots_docs
+  bitbots_msgs
+  controller_interface
+  controller_manager
+  diagnostic_msgs
+  dynamixel_workbench_toolbox
+  hardware_interface
+  pluginlib
+  rclcpp
+  realtime_tools
+  rosidl_typesupport_cpp
+  std_msgs
+  std_srvs
+  tf2_ros
+  transmission_interface
+  yaml-cpp)
 target_link_libraries(pressure_converter yaml-cpp)
 
 ament_export_dependencies(ament_cmake)
@@ -108,14 +108,11 @@ ament_export_dependencies(std_msgs)
 ament_export_dependencies(tf2_ros)
 ament_export_dependencies(transmission_interface)
 
-install(TARGETS ros_control
-        DESTINATION lib/${PROJECT_NAME})
-install(TARGETS pressure_converter
+install(TARGETS ros_control DESTINATION lib/${PROJECT_NAME})
+install(TARGETS pressure_converter DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY scripts/ USE_SOURCE_PERMISSIONS
         DESTINATION lib/${PROJECT_NAME})
-install(DIRECTORY config
-        DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY launch
-        DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY scripts/ USE_SOURCE_PERMISSIONS DESTINATION lib/${PROJECT_NAME})
 
 ament_package()
diff --git a/bitbots_misc/bitbots_basler_camera/CMakeLists.txt b/bitbots_misc/bitbots_basler_camera/CMakeLists.txt
@@ -6,10 +6,8 @@ find_package(ament_cmake REQUIRED)
 
 enable_bitbots_docs()
 
-install(DIRECTORY config
-  DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
-install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_package()
diff --git a/bitbots_misc/bitbots_bringup/CMakeLists.txt b/bitbots_misc/bitbots_bringup/CMakeLists.txt
@@ -7,7 +7,6 @@ find_package(ament_cmake_python REQUIRED)
 
 enable_bitbots_docs()
 
-install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_package()