feat: improve devcontainer configuration

.clangd

@@ -0,0 +1,3 @@
+CompileFlags:
+  Add:
+    - -std=c++20

.devcontainer/devcontainer.json

@@ -14,16 +14,20 @@
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros2/.devcontainer,type=bind,consistency=cached",
   "workspaceFolder": "/home/ros2/.devcontainer",
   "mounts": [
-    "source=${localWorkspaceFolder}/source,target=/home/ros2/ws/src,type=bind,consistency=cached"
+    "source=${localWorkspaceFolder}/source,target=/home/ros2/ws/src,type=bind,consistency=cached",
+    "source=${localWorkspaceFolder}/.devcontainer/generate_compile_commands,target=/tmp/generate_compile_commands,type=bind,consistency=cached"
   ],
   "customizations": {
     "vscode": {
       "extensions": [
         "ms-vscode.cpptools-extension-pack",
         "ms-python.pylint",
         "ms-python.autopep8",
-        "ms-python.isort"
+        "ms-python.isort",
+        "llvm-vs-code-extensions.vscode-clangd",
+        "xaver.clang-format"
       ]
     }
-  }
+  },
+  "postCreateCommand": "/bin/sh /tmp/generate_compile_commands --packages modulo_interfaces modulo_core modulo_utils modulo_components modulo_controllers --cmake-args BUILD_TESTING=ON --timeout 60"
 }

.devcontainer/generate_compile_commands

@@ -0,0 +1,60 @@
+#!/bin/sh
+
+PACKAGES=""
+CMAKE_ARGS="-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"
+TIMEOUT=30
+
+HELP_MESSAGE="
+Usage: ./generate_compile_commands [OPTIONS]
+
+Generate compile commands for clangd. The following options are supported:
+
+  -p|--packages <packages>  The ROS packages to build (space-separated).
+  --cmake-args <args>       Additional CMake arguments (space-separated).
+  -t|--timeout <seconds>    Timeout in seconds (default: 30).
+  -h|--help                 Show this help message.
+"
+
+while [ "$#" -gt 0 ]; do
+  case "$1" in
+    -p|--packages)
+      shift
+      while [ "$#" -gt 0 ] && [ "${1#-}" = "$1" ]; do
+        PACKAGES="$PACKAGES $1"
+        shift
+      done
+      ;;
+    --cmake-args)
+      shift
+      while [ "$#" -gt 0 ] && [ "${1#-}" = "$1" ]; do
+        CMAKE_ARGS="$CMAKE_ARGS -D$1"
+        shift
+      done
+      ;;
+    -t|--timeout) TIMEOUT=$2; shift 2;;
+    -h|--help) echo "$HELP_MESSAGE"; exit 0;;
+    *)
+      echo "Unknown option: $1"
+      echo "$HELP_MESSAGE"
+      exit 1
+      ;;
+  esac
+done
+
+cd ~/ws
+colcon build \
+    --event-handlers console_direct+ --cmake-force-configure --cmake-args $CMAKE_ARGS \
+    --packages-select $PACKAGES > /dev/null 2>&1 &
+COLCON_PID=$!
+TIMER=0
+touch compile_commands.json
+for PACKAGE in $PACKAGES; do
+  while ! [ -s build/$PACKAGE/compile_commands.json ] && [ $TIMER -lt $TIMEOUT ] ; do
+    echo "waiting for package $PACKAGE ($TIMER)"
+    sleep 1
+    TIMER=$((TIMER + 1))
+  done
+  jq -s 'add' compile_commands.json build/$PACKAGE/compile_commands.json > tmp && mv tmp compile_commands.json
+done
+kill -INT $COLCON_PID
+cp compile_commands.json ~/.devcontainer

.gitignore

@@ -3,9 +3,17 @@
 **/.cache/**
 
 .idea
+.DS_Store
 cmake-build-*
 ./fileList.txt
 build
 .*CommandMarker
+.onCreateCommandMarker
+.postCreateCommandMarker
+.updateContentCommandMarker
 
 doxygen/docs/html
+
+# clangd generated files
+compile_commands.json
+.cache

.vscode/settings.json

@@ -1,11 +1,14 @@
 {
-    "C_Cpp.clang_format_style": "file:/home/ros2/.clang-format",
     "cmake.sourceDirectory": "/home/ros2/ws/src/modulo_components",
+    "clang-format.fallbackStyle": "none",
+    "clang-format.language.cpp.style": "file:/home/ros2/.clang-format",
+    "C_Cpp.intelliSenseEngine": "disabled",
+    "[cpp]": {
+        "editor.defaultFormatter": "xaver.clang-format",
+        "editor.inlayHints.enabled": "on"
+    },
     "python.analysis.typeCheckingMode": "basic",
     "python.languageServer": "Pylance",
-    "editor.rulers": [
-        120
-    ],
     "autopep8.args": [
         "--max-line-length",
         "120",
@@ -22,4 +25,7 @@
         "-d",
         "C0116"
     ],
+    "editor.rulers": [
+        120
+    ],
 }

CHANGELOG.md

@@ -18,6 +18,10 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
+## Upcoming changes
+
+- feat: improve devcontainer configuration (#198)
+
 ## 5.1.0
 
 ### December 16th, 2024

aica-package.toml

@@ -1,4 +1,4 @@
-#syntax=ghcr.io/aica-technology/package-builder:v1.3.0
+#syntax=ghcr.io/aica-technology/package-builder:v1.4.0
 
 [metadata]
 version = "5.1.0"