Merged in pr-ci_setup (pull request #3)

Add CI and pre-commit and apply relevant formatting fixes

* Add CI, pre commit and clang-format
* pre-commit fixes
* Add pre-commit docs

Approved-by: Andy Zelenak

Author: Vatan Aksoy Tezer

.clang-format

@@ -0,0 +1,75 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...

.pre-commit-config.yaml

@@ -0,0 +1,48 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']

LICENSE

@@ -10,7 +10,7 @@ and/or other materials provided with the distribution.
 * Neither the name of the copyright holder nor the names of its contributors
 may be used to endorse or promote products derived from this software
 without specific prior written permission.
- 
+
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
@@ -59,4 +59,4 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 Code generated by the Protocol Buffer compiler is owned by the owner
 of the input file used when generating it.  This code is not
 standalone and requires a support library to be linked with it.  This
-support library is itself covered by the above license.
+support library is itself covered by the above license.

bitbucket-pipelines.yml

@@ -0,0 +1,63 @@
+image: docker:git
+
+pipelines:
+  pull-requests:
+    '**':
+    - step:
+        name: Formatting (pre-commit) (PR)
+        services:
+          - docker
+        script:
+          - apk add --update py3-pip gcc python3 python3-dev musl-dev
+          - pip3 install pre-commit
+          - pre-commit run -a
+    - step:
+        name: Industrial CI (PR)
+        services:
+          - docker
+        script:
+          - apk add --update bash coreutils tar
+          - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
+          - .industrial_ci/bitbucket.sh ROS_DISTRO=foxy
+  branches:
+    "master":
+    - step:
+        name: Formatting (pre-commit) (Master)
+        services:
+          - docker
+        script:
+          - apk add --update py3-pip gcc python3 python3-dev musl-dev
+          - pip3 install pre-commit
+          - pre-commit run -a
+    - step:
+        name: Industrial CI (Master)
+        services:
+          - docker
+        script:
+          - apk add --update bash coreutils tar
+          - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
+          - .industrial_ci/bitbucket.sh ROS_DISTRO=foxy
+  custom:
+    "Build and Test":
+    - step:
+        name: Industrial CI (Manual Trigger)
+        services:
+          - docker
+        script:
+          - apk add --update bash coreutils tar
+          - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
+          - .industrial_ci/bitbucket.sh ROS_DISTRO=foxy
+    "Formatting (pre-commit) (Manual Trigger)":
+      - step:
+          name: Formatting (pre-commit)
+          services:
+            - docker
+          script:
+            - apk add --update py3-pip gcc python3 python3-dev musl-dev
+            - pip3 install pre-commit
+            - pre-commit run -a
+
+definitions:
+  services:
+    docker:
+      memory: 2048

kortex2_bringup/launch/kortex_control.launch.py

@@ -17,7 +17,12 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -106,7 +111,9 @@ def generate_launch_description():
         )
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
+        DeclareLaunchArgument(
+            "launch_rviz", default_value="true", description="Launch RViz?"
+        )
     )
 
     # Initialize Arguments
@@ -128,7 +135,9 @@ def generate_launch_description():
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
-            PathJoinSubstitution([FindPackageShare(description_package), "robots", description_file]),
+            PathJoinSubstitution(
+                [FindPackageShare(description_package), "robots", description_file]
+            ),
             " ",
             "robot_ip:=",
             robot_ip,
@@ -186,7 +195,11 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner.py",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        arguments=[
+            "joint_state_broadcaster",
+            "--controller-manager",
+            "/controller_manager",
+        ],
     )
 
     robot_controller_spawner = Node(

kortex2_bringup/launch/kortex_moveit.launch.py

@@ -21,7 +21,12 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -106,7 +111,9 @@ def generate_launch_description():
         )
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
+        DeclareLaunchArgument(
+            "launch_rviz", default_value="true", description="Launch RViz?"
+        )
     )
 
     # Initialize Arguments
@@ -122,12 +129,13 @@ def generate_launch_description():
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
     launch_rviz = LaunchConfiguration("launch_rviz")
 
-
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
-            PathJoinSubstitution([FindPackageShare(description_package), "robots", description_file]),
+            PathJoinSubstitution(
+                [FindPackageShare(description_package), "robots", description_file]
+            ),
             " ",
             "robot_ip:=",
             robot_ip,
@@ -154,15 +162,21 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare(moveit_config_package), "config/7dof", moveit_config_file]
+                [
+                    FindPackageShare(moveit_config_package),
+                    "config/7dof",
+                    moveit_config_file,
+                ]
             ),
             " ",
             "prefix:=",
             prefix,
             " ",
         ]
     )
-    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
+    robot_description_semantic = {
+        "robot_description_semantic": robot_description_semantic_content
+    }
 
     kinematics_yaml = load_yaml("gen3_move_it_config", "config/kinematics.yaml")
     robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}

kortex_api/include/client/IRouterClient.h

@@ -1,7 +1,6 @@
 #ifndef _I_ROUTER_CLIENT_H_
 #define _I_ROUTER_CLIENT_H_
 
-
 #include <string>
 #include <future>
 #include <functional>
@@ -18,38 +17,42 @@ namespace Kinova
 {
 namespace Api
 {
-    typedef std::function<void (const Kinova::Api::Frame&)> MessageCallback;
+typedef std::function<void(const Kinova::Api::Frame&)> MessageCallback;
+
+typedef struct
+{
+  bool andForget;
+  uint32_t delay_ms;
+  uint32_t timeout_ms;
 
-    typedef struct
-    {
-        bool andForget;
-        uint32_t delay_ms;
-        uint32_t timeout_ms;
-    
-    } RouterClientSendOptions;
+} RouterClientSendOptions;
 
-    class IRouterClient
-    {
-    public:
-        virtual ~IRouterClient() {}
+class IRouterClient
+{
+public:
+  virtual ~IRouterClient()
+  {
+  }
 
-        virtual void reset() = 0;
-        virtual void registerBridgingCallback(std::function<void (Frame &)> bridgingCallback) = 0;
-        virtual void registerNotificationCallback( uint32_t serviceId, function<Error (Frame&)> ) = 0;
-        virtual void registerErrorCallback( function<void(KError)> callback ) = 0;
-        virtual void registerHitCallback(std::function<void (FrameTypes)> hitSessionCallback) = 0;
+  virtual void reset() = 0;
+  virtual void registerBridgingCallback(std::function<void(Frame&)> bridgingCallback) = 0;
+  virtual void registerNotificationCallback(uint32_t serviceId, function<Error(Frame&)>) = 0;
+  virtual void registerErrorCallback(function<void(KError)> callback) = 0;
+  virtual void registerHitCallback(std::function<void(FrameTypes)> hitSessionCallback) = 0;
 
-        virtual future<Frame> send(const std::string& txPayload, uint32_t serviceVersion, uint32_t funcId, uint32_t deviceId, const RouterClientSendOptions& options ) = 0;
-        virtual Error sendWithCallback(const std::string& txPayload, uint32_t serviceVersion, uint32_t funcId, uint32_t deviceId, MessageCallback callback) = 0;
-        virtual Error sendMsgFrame(const Frame& msgFrame) = 0;
+  virtual future<Frame> send(const std::string& txPayload, uint32_t serviceVersion, uint32_t funcId, uint32_t deviceId,
+                             const RouterClientSendOptions& options) = 0;
+  virtual Error sendWithCallback(const std::string& txPayload, uint32_t serviceVersion, uint32_t funcId,
+                                 uint32_t deviceId, MessageCallback callback) = 0;
+  virtual Error sendMsgFrame(const Frame& msgFrame) = 0;
 
-        virtual uint16_t getConnectionId() = 0;
-        virtual void SetActivationStatus(bool isActive) = 0;
+  virtual uint16_t getConnectionId() = 0;
+  virtual void SetActivationStatus(bool isActive) = 0;
 
-        virtual ITransportClient* getTransport() = 0;
-    };
+  virtual ITransportClient* getTransport() = 0;
+};
 
-} // namespace Api
-} // namespace Kinova
+}  // namespace Api
+}  // namespace Kinova
 
-#endif // _I_ROUTER_CLIENT_H_
+#endif  // _I_ROUTER_CLIENT_H_