Pre-commit config - Ruff, cmake & clang formaters

.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=Google
+
   - 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

@@ -5,71 +5,51 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(HW_IF_INCLUDE_DEPENDS
-  fmt
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-  rcpputils
-)
+set(HW_IF_INCLUDE_DEPENDS fmt hardware_interface pluginlib rclcpp
+                          rclcpp_lifecycle rcpputils)
 
 find_package(ament_cmake REQUIRED)
-foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
-  find_package(${Dependency} REQUIRED)
+foreach(dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
+  find_package(${dependency} REQUIRED)
 endforeach()
 
-add_library(${PROJECT_NAME}
-    SHARED
-    hardware/src/hande_hardware_interface.cpp
-)
+add_library(${PROJECT_NAME} SHARED hardware/src/hande_hardware_interface.cpp)
 
 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)
+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)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   # 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})
 
-  # 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)
+  # 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>
 
 namespace robotiq_hande_driver {
 
@@ -12,37 +12,43 @@ namespace rlccp_lc = rclcpp_lifecycle;
 
 constexpr int LEFT_FINGER_JOINT_ID = 0;
 
-class RobotiqHandeHardwareInterface : public HWI::SystemInterface
-{
-public:
-    RobotiqHandeHardwareInterface();
-
-    HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
-    HWI::CallbackReturn on_configure(const rlccp_lc::State& previous_state) override;
-    HWI::CallbackReturn on_cleanup(const rlccp_lc::State& previous_state) override;
-    std::vector<HWI::StateInterface> export_state_interfaces() override;
-    std::vector<HWI::CommandInterface> export_command_interfaces() override;
-
-    HWI::CallbackReturn on_activate(const rlccp_lc::State& previous_state) override;
-    HWI::CallbackReturn on_deactivate(const rlccp_lc::State& previous_state) override;
-
-    HWI::CallbackReturn on_shutdown(const rlccp_lc::State& previous_state) override;
-    HWI::CallbackReturn on_error(const rlccp_lc::State& previous_state) override;
-
-    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_; }
-
-private:
-    //TODO(modbus integration): composition of the modbus communication
-    std::shared_ptr<rclcpp::Logger> logger_;
-
-    std::string tty_port_;
-    double state_position_;
-    double state_velocity_;
-    double cmd_position_;
+class RobotiqHandeHardwareInterface : public HWI::SystemInterface {
+ public:
+  RobotiqHandeHardwareInterface();
+
+  HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
+  HWI::CallbackReturn on_configure(
+      const rlccp_lc::State& previous_state) override;
+  HWI::CallbackReturn on_cleanup(
+      const rlccp_lc::State& previous_state) override;
+  std::vector<HWI::StateInterface> export_state_interfaces() override;
+  std::vector<HWI::CommandInterface> export_command_interfaces() override;
+
+  HWI::CallbackReturn on_activate(
+      const rlccp_lc::State& previous_state) override;
+  HWI::CallbackReturn on_deactivate(
+      const rlccp_lc::State& previous_state) override;
+
+  HWI::CallbackReturn on_shutdown(
+      const rlccp_lc::State& previous_state) override;
+  HWI::CallbackReturn on_error(const rlccp_lc::State& previous_state) override;
+
+  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_; }
+
+ private:
+  // TODO(modbus integration): composition of the modbus communication
+  std::shared_ptr<rclcpp::Logger> logger_;
+
+  std::string tty_port_;
+  double state_position_;
+  double state_velocity_;
+  double cmd_position_;
 };
 
-} // namespace robotiq_hande_driver
+}  // namespace robotiq_hande_driver
 #endif  // ROBOTIQ_HANDE_DRIVER__HANDE_HARDWARE_INTERFACE_HPP_