.github/workflows/nix.yml

@@ -0,0 +1,20 @@
+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  tests:
+    name: "Nix build on ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

.gitlab-ci.yml

@@ -1 +1 @@
-include: http://rainboard.laas.fr/project/hpp-corbaserver/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/hpp-corbaserver/.gitlab-ci.yml

.mergify.yml

@@ -0,0 +1,11 @@
+pull_request_rules:
+  - name: merge automatically when CI passes and PR is approved
+    conditions:
+      - check-success = "gitlab-ci"
+      - check-success = "Nix build on ubuntu"
+      - check-success = "pre-commit.ci - pr"
+      - or:
+        - author = pre-commit-ci[bot]
+        - author = dependabot[bot]
+    actions:
+      merge:

.pre-commit-config.yaml

@@ -1,38 +1,44 @@
 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
-    hooks:
-    -   id: clang-format
-        args: [--style=Google]
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
-    hooks:
-    -   id: check-added-large-files
-    -   id: check-ast
-    -   id: check-executables-have-shebangs
-    -   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: fix-byte-order-marker
-    -   id: mixed-line-ending
-    -   id: trailing-whitespace
--   repo: https://github.com/psf/black
-    rev: 22.8.0
-    hooks:
-    -   id: black
--   repo: https://github.com/PyCQA/flake8
-    rev: 5.0.4
-    hooks:
-    -   id: flake8
--   repo: https://github.com/cheshirekow/cmake-format-precommit
-    rev: v0.6.13
-    hooks:
-    - id: cmake-format
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.8.1
+  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
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.24.2
+  hooks:
+  - id: toml-sort-fix
+    exclude: poetry.lock
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v19.1.4
+  hooks:
+  - id: clang-format
+    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-executables-have-shebangs
+  - 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: fix-byte-order-marker
+  - id: mixed-line-ending
+  - id: trailing-whitespace

CMakeLists.txt

@@ -21,7 +21,7 @@
 # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)
 
 set(PROJECT_NAME hpp-corbaserver)
 set(PROJECT_DESCRIPTION "Corba server for Humanoid Path Planner applications")
@@ -30,9 +30,40 @@ set(PROJECT_USE_CMAKE_EXPORT TRUE)
 set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
 set(CXX_DISABLE_WERROR true)
 
-include(cmake/hpp.cmake)
-include(cmake/idl.cmake)
-include(cmake/python.cmake)
+# Check if the submodule cmake have been initialized
+set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
+include("${JRL_CMAKE_MODULES}/hpp.cmake")
+include("${JRL_CMAKE_MODULES}/idl.cmake")
+include("${JRL_CMAKE_MODULES}/python.cmake")
 
 include(cmake-modules/omniidl.cmake)
 
@@ -46,12 +77,15 @@ project(${PROJECT_NAME} ${PROJECT_ARGS})
 # Dependencies
 add_required_dependency("omniORB4 >= 4.1.4")
 add_required_dependency("omniDynamic4 >= 4.1.4")
-findpython()
 if(NOT CLIENT_ONLY)
   add_project_dependency("hpp-core" REQUIRED)
   add_project_dependency("hpp-template-corba" REQUIRED)
 endif(NOT CLIENT_ONLY)
 
+if(NOT FINDPYTHON_ALREADY_CALLED)
+  findpython()
+endif()
+
 set(ALL_IDL_CPP_STUBS "")
 set(ALL_IDL_CPP_IMPL_STUBS "")
 set(ALL_IDL_PYTHON_STUBS "")
@@ -68,6 +102,8 @@ if(NOT CLIENT_ONLY)
       include/hpp/corbaserver/servant-base.hh
       include/hpp/corbaserver/server.hh
       include/hpp/corbaserver/server-plugin.hh
+      include/hpp/corbaserver/steering-method.hh
+      include/hpp/corbaserver/read-write-lock.hh
       include/hpp/corbaserver/conversions.hh)
 endif(NOT CLIENT_ONLY)
 

cmake-modules/omniidl/cxx_impl/__init__.py

@@ -36,8 +36,9 @@
 
 import os
 
-from omniidl_be.cxx import id, config, util, ast, output, support, descriptor
-from cxx_impl import main
+from omniidl_be.cxx import ast, config, descriptor, id, output, support, util
+
+from cxx_impl.main import Main
 
 cpp_args = ["-D__OMNIIDL_CXX_IMPL__"]
 usage_string = """\
@@ -238,8 +239,7 @@ def run(tree, backend_args):
         hpp_stream = output.Stream(output.createFile(hpp_filename), 2)
         hxx_stream = output.Stream(output.createFile(hxx_filename), 2)
         cc_stream = output.Stream(output.createFile(cc_filename), 2)
-        main.self = main
-        main.__init__(
+        main = Main(
             hpp_stream,
             hxx_stream,
             cc_stream,