FIX: merge issues

Author: slimasziom

.clang-format

@@ -0,0 +1,30 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+ColumnLimit: 100
+IndentWidth: 4
+
+AccessModifierOffset: -1
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: Empty
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+IndentPPDirectives: BeforeHash
+PenaltyBreakAssignment: 21
+
+SpaceBeforeParens: Custom
+SpaceBeforeParensOptions:
+  AfterControlStatements: false
+  AfterForeachMacros: false
+  AfterFunctionDeclarationName: false
+  AfterFunctionDefinitionName: false
+  AfterIfMacros: false
+  AfterOverloadedOperator: false
+  AfterPlacementOperator: true
+  AfterRequiresInClause: false
+  AfterRequiresInExpression: false
+  BeforeNonEmptyParentheses: false

.cmake-format.py

@@ -0,0 +1,6 @@
+with section("format"):  # noqa F821
+    line_width = 100
+    tab_size = 2
+    command_case = "lower"
+    max_subgroups_hwrap = 2
+    max_pargs_hwrap = 4

.pre-commit-config.yaml

@@ -1,22 +1,48 @@
 repos:
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.9.5
+    hooks:
+      - id: ruff
+        args:
+          - --fix
+          - --exit-non-zero-on-fix
+      - id: ruff-format
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.7
+    hooks:
+      - id: clang-format
+        types_or: [c++, c]
+        args:
+          - --style=file
+
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
       - id: check-added-large-files
+      - id: check-ast
       - id: check-case-conflict
+      - id: check-executables-have-shebangs
       - id: check-json
       - id: check-merge-conflict
       - id: check-symlinks
       - id: check-toml
       - id: check-xml
+      - id: check-yaml
       - id: debug-statements
       - id: destroyed-symlinks
       - id: detect-private-key
       - id: end-of-file-fixer
+      - id: fix-byte-order-marker
       - id: mixed-line-ending
       - id: pretty-format-json
       - id: trailing-whitespace
-      - id: check-yaml
 
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.6

robotiq_hande_driver/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(robotiq_hande_driver)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  # TODO(issue#5) Fix warnings to enable the -Werror flag
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
@@ -13,13 +14,12 @@ set(DEPENDS
 )
 
 set(HW_IF_INCLUDE_DEPENDS
-  fmt
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-  rcpputils
-)
+    fmt
+    hardware_interface
+    pluginlib
+    rclcpp
+    rclcpp_lifecycle
+    rcpputils)
 
 find_package(ament_cmake REQUIRED)
 
@@ -44,33 +44,22 @@ add_executable(communication_test test/communication_test.cpp)
 target_link_libraries(communication_test ${catkin_LIBRARIES} ${DEPENDS})
 
 target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
-target_include_directories(robotiq_hande_driver PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
-  $<INSTALL_INTERFACE:include>
-)
-ament_target_dependencies(
-  ${PROJECT_NAME} PUBLIC
-  ${HW_IF_INCLUDE_DEPENDS}
-)
+target_include_directories(
+  robotiq_hande_driver PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/hardware/include>
+                              $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(${PROJECT_NAME} PUBLIC ${HW_IF_INCLUDE_DEPENDS})
 
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_plugin.xml)
 
-install(
-  DIRECTORY hardware/include/
-  DESTINATION include/
-)
-install(
-  DIRECTORY bringup
-  DESTINATION share/${PROJECT_NAME}
-)
-
+install(DIRECTORY hardware/include/ DESTINATION include/)
+install(DIRECTORY bringup DESTINATION share/${PROJECT_NAME})
 
-install(TARGETS ${PROJECT_NAME}
+install(
+  TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+  RUNTIME DESTINATION bin)
 
 # include_directories(hardware/include/robotiq_hande_driver)
 # add_executable(application_test test/application_test.cpp hardware/src/application.cpp hardware/src/communication.cpp hardware/src/protocol_logic.cpp)
@@ -81,23 +70,21 @@ if(BUILD_TESTING)
   # find_package(ament_cmake_pytest REQUIRED)
   find_package(hardware_interface REQUIRED)
 
-  ament_add_gmock(test_load_hw_interface
-    test/test_load_hw_interface.cpp
-  )
+  ament_add_gmock(test_load_hw_interface test/test_load_hw_interface.cpp)
   target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
 
   # ament_add_gmock(application_test
   # test/application_test.cpp
   # )
   # target_link_libraries(application_test ${PROJECT_NAME})
 
-  # TODO: investigate
-  # ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
+  # TODO: investigate ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
+
   # ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
   # ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
 endif()
 
-## EXPORTS
+# EXPORTS
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS})
 ament_package()

robotiq_hande_driver/bringup/launch/gripper_controller_preview.launch.py

@@ -48,9 +48,8 @@ def generate_launch_description():
 
 
 def launch_setup(context: LaunchContext) -> list[IncludeLaunchDescription]:
-
     # tf_prefix is implicitly used in robot_state_publisher (in URDF substitution)
-    tf_prefix = LaunchConfiguration("tf_prefix", default="")
+    tf_prefix = LaunchConfiguration("tf_prefix", default="")  # noqa: F841
 
     return [
         preapre_control_node(),
@@ -105,7 +104,8 @@ def preapre_control_node() -> Node:
 
 
 def prepare_robot_state_publisher_node() -> Node:
-    tf_prefix = LaunchConfiguration("tf_prefix", default="")
+    # tf_prefix is implicitly used in ParameterValue()
+    tf_prefix = LaunchConfiguration("tf_prefix", default="")  # noqa: F841
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
 
     robot_description_str = Command(

robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp

@@ -1,9 +1,9 @@
 #ifndef ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_
 #define ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_
 
-#include <string>
 #include <hardware_interface/system_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <string>
 
 #include "application.hpp"
 
@@ -14,9 +14,8 @@ namespace rlccp_lc = rclcpp_lifecycle;
 
 constexpr int LEFT_FINGER_JOINT_ID = 0;
 
-class RobotiqHandeHardwareInterface : public HWI::SystemInterface
-{
-public:
+class RobotiqHandeHardwareInterface : public HWI::SystemInterface {
+   public:
     RobotiqHandeHardwareInterface();
 
     HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
@@ -34,10 +33,11 @@ class RobotiqHandeHardwareInterface : public HWI::SystemInterface
     HWI::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
     HWI::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 
-    rclcpp::Logger get_logger() const { return *logger_; }
+    rclcpp::Logger get_logger() const {
+        return *logger_;
+    }
 
 private:
-    //--TODO(modbus integration): composition of the modbus communication
     GripperApplication application_layer_;
     std::shared_ptr<rclcpp::Logger> logger_;
 
@@ -56,5 +56,5 @@ class RobotiqHandeHardwareInterface : public HWI::SystemInterface
     double cmd_force_;
 };
 
-} // namespace robotiq_hande_driver
+}  // namespace robotiq_hande_driver
 #endif  // ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_

robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

@@ -8,7 +8,7 @@ namespace robotiq_hande_driver {
 RobotiqHandeHardwareInterface::RobotiqHandeHardwareInterface() {}
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(const HWI::HardwareInfo& info) {
-    if (HWI::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
+    if(HWI::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
         return HWI::CallbackReturn::ERROR;
     }
 
@@ -27,17 +27,16 @@ HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(const HWI::HardwareIn
     state_position_ = gripper_position_max_;
 
     logger_ = std::make_shared<rclcpp::Logger>(
-    rclcpp::get_logger("controller_manager.resource_manager.hardware_component.system.RobotiqHandeHardwareInterface"));
+        rclcpp::get_logger("controller_manager.resource_manager.hardware_"
+                           "component.system.RobotiqHandeHardwareInterface"));
 
-    //--TODO(modbus integration): Set parameters for the modbus communication
     application_layer_.initialize(gripper_position_min_, gripper_position_max_, tty_port_, baudrate_, parity_, data_bits_, stop_bit_, slave_id_);
 
     RCLCPP_INFO(get_logger(), "Initialized ModbusRTU for %s", tty_port_.c_str());
     return HWI::CallbackReturn::SUCCESS;
 }
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_configure(const rlccp_lc::State& /*previous_state*/){
-    //--TODO(modbus integration): Initialize the ModbusRTU communication session
     int result;
 
     result = application_layer_.configure();
@@ -48,7 +47,6 @@ HWI::CallbackReturn RobotiqHandeHardwareInterface::on_configure(const rlccp_lc::
 }
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_cleanup(const rlccp_lc::State& /*previous_state*/){
-    //--TODO(modbus integration): Deinitalize the ModbusRTU session
     application_layer_.cleanup();
 
     RCLCPP_INFO(get_logger(), "cleanup()");
@@ -59,9 +57,13 @@ std::vector<HWI::StateInterface> RobotiqHandeHardwareInterface::export_state_int
     std::vector<HWI::StateInterface> state_interfaces;
 
     state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_POSITION, &state_position_));
+        info_.joints[LEFT_FINGER_JOINT_ID].name,
+        hardware_interface::HW_IF_POSITION,
+        &state_position_));
     state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[LEFT_FINGER_JOINT_ID].name, hardware_interface::HW_IF_VELOCITY, &state_velocity_));
+        info_.joints[LEFT_FINGER_JOINT_ID].name,
+        hardware_interface::HW_IF_VELOCITY,
+        &state_velocity_));
 
     RCLCPP_INFO(get_logger(), "export_state_interfaces()");
     return state_interfaces;
@@ -80,39 +82,33 @@ std::vector<HWI::CommandInterface> RobotiqHandeHardwareInterface::export_command
 }
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_activate(const rlccp_lc::State& /*previous_state*/){
-    //--TODO(modbus integration): Power on the gripper (activation)
     application_layer_.activate();
 
     RCLCPP_INFO(get_logger(), "activate()");
     return HWI::CallbackReturn::SUCCESS;
 }
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_deactivate(const rlccp_lc::State& /*previous_state*/){
-    //--TODO(modbus integration): Deactiavte the gripper (set the reset flag)
     application_layer_.deactivate();
 
     RCLCPP_INFO(get_logger(), "deactivate()");
     return HWI::CallbackReturn::SUCCESS;
 }
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_shutdown(const rlccp_lc::State& /*previous_state*/){
-    //--TODO(modbus integration): Deactivate the gripper, deinitalize the modbus RTU session,
     application_layer_.shutdown();
 
     RCLCPP_INFO(get_logger(), "shutdown()");
     return HWI::CallbackReturn::SUCCESS;
 }
 
 HWI::CallbackReturn RobotiqHandeHardwareInterface::on_error(const rlccp_lc::State& /*previous_state*/){
-    //--TODO(modbus integration): Placeholder for error handling
     RCLCPP_INFO(get_logger(), "Handled error with FAILURE on purpose - check logs");
-    // return HWI::CallbackReturn::SUCCESS;
     return HWI::CallbackReturn::FAILURE;
 }
 
 HWI::return_type RobotiqHandeHardwareInterface::read(const rclcpp::Time& /*time*/,
                                                      const rclcpp::Duration& /*period*/) {
-    //--TODO(modbus integration): data = driver_->receive_data();
     application_layer_.read();
     state_position_ = application_layer_.get_position();
 
@@ -121,17 +117,16 @@ HWI::return_type RobotiqHandeHardwareInterface::read(const rclcpp::Time& /*time*
 }
 HWI::return_type RobotiqHandeHardwareInterface::write(const rclcpp::Time& /*time*/,
                                                       const rclcpp::Duration& /*period*/) {
-    //--TODO(modbus integration): driver_->send_data(cmd_position_);
     application_layer_.set_position(cmd_position_, cmd_force_);
     application_layer_.write();
 
     RCLCPP_DEBUG(get_logger(), "write()");
+
     return hardware_interface::return_type::OK;
 }
 
-
-} // namespace robotiq_hande_driver
+}  // namespace robotiq_hande_driver
 
 #include "pluginlib/class_list_macros.hpp"
 PLUGINLIB_EXPORT_CLASS(
-  robotiq_hande_driver::RobotiqHandeHardwareInterface, hardware_interface::SystemInterface)
+    robotiq_hande_driver::RobotiqHandeHardwareInterface, hardware_interface::SystemInterface)