[ci] Setup and run pre-commit

jrl-umi3218 · Mar 20, 2024 · 77f00c8 · 77f00c8
1 parent 55c250a
commit 77f00c8
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,105 @@
+---
+Language:        Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Allman
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     120
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex:           '^(<mc_[a-z]*/)'
+    Priority:        1
+  - Regex:           '^(<Tasks/)'
+    Priority:        2
+  - Regex:           '^(<mc_rbdyn_urdf/)'
+    Priority:        3
+  - Regex:           '^(<RBDyn/)'
+    Priority:        4
+  - Regex:           '^(<SpaceVecAlg/)'
+    Priority:        5
+  - Regex:           '^(<sch-core/)'
+    Priority:        6
+  - Regex:           '^(<boost/)'
+    Priority:        7
+  - Regex:           '^(<(nanomsg|geos|.*_msgs|ros|tf2.*)/)'
+    Priority:        8
+  - Regex:           '.*'
+    Priority:        9
+IncludeIsMainRegex: '(Test)?$'
+IndentCaseLabels: true
+IndentPPDirectives: AfterHash
+IndentWidth:     2
+IndentWrappedFunctionNames: true
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 150
+PenaltyReturnTypeOnItsOwnLine: 300
+PointerAlignment: Middle
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        2
+UseTab:          Never
+...
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,26 @@
+repos:
+- repo: meta
+  hooks:
+  - id: check-useless-excludes
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v16.0.6
+  hooks:
+  - id: clang-format
+    'types_or': [c++, c]
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-executables-have-shebangs
+  - id: check-merge-conflict
+  - id: check-yaml
+  - id: destroyed-symlinks
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,8 @@ find_package(mc_rtc REQUIRED)
 find_description_package(nao_description)
 
 message(STATUS "NAO_DESCRIPTION_PATH: ${NAO_DESCRIPTION_PATH}")
-configure_file(include/mc_nao/config.h.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/include/mc_nao/config.h")
+configure_file(include/mc_nao/config.h.cmake.in
+               "${CMAKE_CURRENT_BINARY_DIR}/include/mc_nao/config.h")
 
 add_robot(nao src/nao.cpp include/mc_nao/nao.h)
 target_include_directories(nao PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/include")

diff --git a/include/mc_nao/nao.h b/include/mc_nao/nao.h
@@ -10,19 +10,20 @@ namespace mc_robots
 {
 struct MC_ROBOTS_DLLAPI NAOCommonRobotModule : public mc_rbdyn::RobotModule
 {
- public:
+public:
   NAOCommonRobotModule();
 
- protected:
-  void readUrdf(const std::string& robotName, const std::vector<std::string>& filteredLinks);
-  std::map<std::string, std::vector<double>> halfSittingPose(const rbd::MultiBody& mb) const;
-  std::map<std::string, std::pair<std::string, std::string>> getConvexHull(const std::map<std::string, std::pair<std::string, std::string>>& files) const;
-  std::map<std::string, std::pair<std::string, std::string>> stdCollisionsFiles(const rbd::MultiBody& mb) const;
-  const std::map<std::string, std::pair<std::string, std::string>>& convexHull() const;
-  const std::vector<std::map<std::string, std::vector<double>>>& bounds() const;
-  const std::map<std::string, std::vector<double>>& stance() const;
+protected:
+  void readUrdf(const std::string & robotName, const std::vector<std::string> & filteredLinks);
+  std::map<std::string, std::vector<double>> halfSittingPose(const rbd::MultiBody & mb) const;
+  std::map<std::string, std::pair<std::string, std::string>> getConvexHull(
+      const std::map<std::string, std::pair<std::string, std::string>> & files) const;
+  std::map<std::string, std::pair<std::string, std::string>> stdCollisionsFiles(const rbd::MultiBody & mb) const;
+  const std::map<std::string, std::pair<std::string, std::string>> & convexHull() const;
+  const std::vector<std::map<std::string, std::vector<double>>> & bounds() const;
+  const std::map<std::string, std::vector<double>> & stance() const;
 
- public:
+public:
   std::vector<std::string> virtualLinks;
   std::vector<std::string> gripperLinks;
   std::map<std::string, std::vector<double>> halfSitting;
@@ -31,39 +32,43 @@ struct MC_ROBOTS_DLLAPI NAOCommonRobotModule : public mc_rbdyn::RobotModule
 
 struct MC_ROBOTS_DLLAPI NAONoHandRobotModule : public NAOCommonRobotModule
 {
- public:
+public:
   NAONoHandRobotModule();
 };
 
 struct MC_ROBOTS_DLLAPI NAOWithHandRobotModule : public NAOCommonRobotModule
 {
- public:
+public:
   NAOWithHandRobotModule();
 };
-}
+} // namespace mc_robots
 
 /*TODO Provide a different constructor to allow WithHand/NoHand instantation */
-extern "C" {
-ROBOT_MODULE_API void MC_RTC_ROBOT_MODULE(std::vector<std::string> & names)
-{
-  names = {"NAO", "NAONoHand"};
-}
-ROBOT_MODULE_API void destroy(mc_rbdyn::RobotModule* ptr) { delete ptr; }
-ROBOT_MODULE_API mc_rbdyn::RobotModule* create(const std::string& n)
+extern "C"
 {
-  ROBOT_MODULE_CHECK_VERSION("NAO")
-  if (n == "NAO")
+  ROBOT_MODULE_API void MC_RTC_ROBOT_MODULE(std::vector<std::string> & names)
   {
-    return new mc_robots::NAOWithHandRobotModule();
+    names = {"NAO", "NAONoHand"};
   }
-  else if (n == "NAONoHand")
+  ROBOT_MODULE_API void destroy(mc_rbdyn::RobotModule * ptr)
   {
-    return new mc_robots::NAONoHandRobotModule();
+    delete ptr;
   }
-  else
+  ROBOT_MODULE_API mc_rbdyn::RobotModule * create(const std::string & n)
   {
-    mc_rtc::log::error("NAO module cannot create an object of type {}", n);
-    return nullptr;
+    ROBOT_MODULE_CHECK_VERSION("NAO")
+    if(n == "NAO")
+    {
+      return new mc_robots::NAOWithHandRobotModule();
+    }
+    else if(n == "NAONoHand")
+    {
+      return new mc_robots::NAONoHandRobotModule();
+    }
+    else
+    {
+      mc_rtc::log::error("NAO module cannot create an object of type {}", n);
+      return nullptr;
+    }
   }
 }
-}