Code style (#96)

Author: jaagut

.clang-format

@@ -0,0 +1,4 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 120

.git-blame-ignore-revs

@@ -0,0 +1,2 @@
+# Add git commit hashes to ignore for blame
+e87343d297ec4c7059f8aa240bfafd59b8fe686e

.github/workflows/pre-commit.yml

@@ -0,0 +1,16 @@
+name: Code style checks
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v4
+      - name: Install cppcheck
+        run: sudo apt install cppcheck -y
+      - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,23 @@
+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: 23.11.0
+  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"

dynamic_stack_decider/docs/conf.py

@@ -1,4 +1,3 @@
-# -*- coding: utf-8 -*-
 #
 # Full list of options at http://www.sphinx-doc.org/en/master/config
 
@@ -10,28 +9,30 @@
 #
 import os
 import sys
-import catkin_pkg.package
 
+import catkin_pkg.package
 from exhale import utils
 
 package_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 catkin_package = catkin_pkg.package.parse_package(
-    os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME))
+    os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
+)
 sys.path.insert(0, os.path.abspath(os.path.join(package_dir, "src")))
 
 
 # -- Helper functions --------------------------------------------------------
 
+
 def count_files():
     """:returns tuple of (num_py, num_cpp)"""
     num_py = 0
     num_cpp = 0
 
-    for root, dirs, files in os.walk(os.path.join(package_dir, "src")):
+    for _root, _dirs, files in os.walk(os.path.join(package_dir, "src")):
         for f in files:
             if f.endswith(".py"):
                 num_py += 1
-    for root, dirs, files in os.walk(os.path.join(package_dir, "include")):
+    for _root, _dirs, files in os.walk(os.path.join(package_dir, "include")):
         for f in files:
             if f.endswith(".h") or f.endswith(".hpp"):
                 num_cpp += 1
@@ -42,7 +43,7 @@ def count_files():
 # -- Project information -----------------------------------------------------
 
 project = catkin_package.name
-copyright = '2019, Bit-Bots'
+copyright = "2019, Bit-Bots"
 author = ", ".join([a.name for a in catkin_package.authors])
 
 # The short X.Y version
@@ -60,27 +61,27 @@ def count_files():
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.doctest',
-    'sphinx.ext.intersphinx',
-    'sphinx.ext.todo',
-    'sphinx.ext.coverage',
-    'sphinx.ext.imgmath',
-    'sphinx.ext.viewcode',
-    'sphinx_rtd_theme',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+    "sphinx.ext.coverage",
+    "sphinx.ext.imgmath",
+    "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
+source_suffix = ".rst"
 
 # The master toctree document.
-master_doc = 'index'
+master_doc = "index"
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -92,7 +93,7 @@ def count_files():
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = None
@@ -108,24 +109,17 @@ def count_files():
 
 if num_files_cpp > 0:
     extensions += [
-        'breathe',
-        'exhale',
+        "breathe",
+        "exhale",
     ]
 
-    breathe_projects = {
-        project: os.path.join("_build", "doxyoutput", "xml")
-    }
+    breathe_projects = {project: os.path.join("_build", "doxyoutput", "xml")}
     breathe_default_project = project
 
     def specifications_for_kind(kind):
         # Show all members for classes and structs
         if kind == "class" or kind == "struct":
-            return [
-              ":members:",
-              ":protected-members:",
-              ":private-members:",
-              ":undoc-members:"
-            ]
+            return [":members:", ":protected-members:", ":private-members:", ":undoc-members:"]
         # An empty list signals to Exhale to use the defaults
         else:
             return []
@@ -136,21 +130,19 @@ def specifications_for_kind(kind):
         "rootFileName": "library_root.rst",
         "rootFileTitle": "C++ Library API",
         "doxygenStripFromPath": "..",
-        "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(
-            specifications_for_kind
-        ),
+        "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(specifications_for_kind),
         # Suggested optional arguments
         "createTreeView": True,
         "exhaleExecutesDoxygen": True,
-        "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include"))
+        "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include")),
     }
 
 # -- Options for HTML output -------------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'sphinx_rtd_theme'
+html_theme = "sphinx_rtd_theme"
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -161,7 +153,7 @@ def specifications_for_kind(kind):
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.
@@ -173,21 +165,23 @@ def specifications_for_kind(kind):
 #
 # html_sidebars = {}
 
-html_logo = os.path.join('_static', 'logo.png')
-html_favicon = os.path.join('_static', 'logo.png')
+html_logo = os.path.join("_static", "logo.png")
+html_favicon = os.path.join("_static", "logo.png")
 
 
 # -- Options for intersphinx extension ---------------------------------------
 
 # Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'https://docs.python.org/': None}
+intersphinx_mapping = {"https://docs.python.org/": None}
 
 # -- Options for todo extension ----------------------------------------------
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
 
 # -- RST Standard variables ---------------------------------------------------
-rst_prolog = ".. |project| replace:: {}\n".format(project)
+rst_prolog = f".. |project| replace:: {project}\n"
 rst_prolog += ".. |description| replace:: {}\n".format(catkin_package.description.replace("\n\n", "\n"))
-rst_prolog += ".. |modindex| replace:: {}\n".format(":ref:`modindex`" if num_files_py > 0 else "Python module index is not available")
+rst_prolog += ".. |modindex| replace:: {}\n".format(
+    ":ref:`modindex`" if num_files_py > 0 else "Python module index is not available"
+)

dynamic_stack_decider/dynamic_stack_decider/__init__.py

@@ -1,3 +0,0 @@
-from .dsd import DSD
-from .abstract_decision_element import AbstractDecisionElement
-from .abstract_action_element import AbstractActionElement

dynamic_stack_decider/dynamic_stack_decider/abstract_action_element.py

@@ -1,4 +1,5 @@
 from abc import ABCMeta
+
 from dynamic_stack_decider.abstract_stack_element import AbstractStackElement
 
 
@@ -12,6 +13,7 @@ class AbstractActionElement(AbstractStackElement, metaclass=ABCMeta):
     Actions do not push further elements on the stack but command actions on lower-level modules like new movement goals.
     If the action is complete, it can remove itself from the stack by performing a pop command.
     """
+
     def __init__(self, blackboard, dsd, parameters=None):
         """
         Constructor of the action element
@@ -22,7 +24,7 @@ def __init__(self, blackboard, dsd, parameters=None):
         super().__init__(blackboard, dsd, parameters)
         # Reevaluation can be disabled by setting 'r' or 'reevaluate' to False
         if parameters is not None:
-            self.never_reevaluate = not parameters.get('r', True) or not parameters.get('reevaluate', True)
+            self.never_reevaluate = not parameters.get("r", True) or not parameters.get("reevaluate", True)
         else:
             self.never_reevaluate = False
 
@@ -39,8 +41,4 @@ def repr_dict(self):
 
         :rtype: dict
         """
-        return {
-            'type': 'action',
-            'classname': self.__class__.__name__,
-            'debug_data': self._debug_data
-        }
+        return {"type": "action", "classname": self.__class__.__name__, "debug_data": self._debug_data}

dynamic_stack_decider/dynamic_stack_decider/abstract_decision_element.py

@@ -1,4 +1,5 @@
 from abc import ABCMeta
+
 from dynamic_stack_decider.abstract_stack_element import AbstractStackElement
 
 
@@ -25,11 +26,7 @@ def repr_dict(self):
 
         :rtype: dict
         """
-        return {
-            'type': 'decision',
-            'classname': self.__class__.__name__,
-            'debug_data': self._debug_data
-        }
+        return {"type": "decision", "classname": self.__class__.__name__, "debug_data": self._debug_data}
 
     def get_reevaluate(self):
         """

dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py

@@ -1,15 +1,16 @@
 from abc import ABCMeta, abstractmethod
-from typing import Union
 
 from dynamic_stack_decider.logger import get_logger
 
+
 class AbstractStackElement(metaclass=ABCMeta):
     """
     The AbstractStackElement is the basis of all elements on the stack.
     It provides some help functions which should not be overloaded.
     The work of an element is done in the :func:`perform`.
     Each element which inherits from the AbstractStackElement can be used as a root element on the stack.
     """
+
     _dsd = None
     _init_data = None
 
@@ -68,10 +69,13 @@ def publish_debug_data(self, label, data):
         :param data: data that should be displayed for debugging purposes
         """
         if type(data) not in (dict, list, int, float, str, bool):
-            get_logger().debug("The supplied debug data of type {} is not JSON serializable and will be wrapped in str()".format(type(data)), throttle_duration_sec=1)
+            get_logger().debug(
+                f"The supplied debug data of type {type(data)} is not JSON serializable and will be wrapped in str()",
+                throttle_duration_sec=1,
+            )
             data = str(data)
 
-        get_logger().debug('{}: {}'.format(label, data))
+        get_logger().debug(f"{label}: {data}")
         self._debug_data[label] = data
 
     def clear_debug_data(self):
@@ -84,9 +88,5 @@ def clear_debug_data(self):
 
     def repr_dict(self):
         # type: () -> dict
-        """ Represent this stack element as dictionary which is JSON encodable """
-        return {
-            'type': 'abstract',
-            'classname': self.__class__.__name__,
-            'debug_data': self._debug_data
-        }
+        """Represent this stack element as dictionary which is JSON encodable"""
+        return {"type": "abstract", "classname": self.__class__.__name__, "debug_data": self._debug_data}