Uncrustify initial (#137)

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Author: pablogs9

.github/workflows/ci.yml

@@ -30,14 +30,14 @@ jobs:
             pip3 install gcovr
 
         - name: Build
-          run: . /opt/ros/foxy/setup.sh && colcon build --symlink-install --cmake-args -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_CXX_OUTPUT_EXTENSION_REPLACE=ON -DCMAKE_C_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_C_OUTPUT_EXTENSION_REPLACE=ON
+          run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon build --symlink-install --cmake-args -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_CXX_OUTPUT_EXTENSION_REPLACE=ON -DCMAKE_C_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_C_OUTPUT_EXTENSION_REPLACE=ON
 
         - name: Test
           run: |
-            . /opt/ros/foxy/setup.sh && . /uros_ws/install/local_setup.sh && ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -d -v6 &
+            . /opt/ros/$ROS_DISTRO/setup.sh && . /uros_ws/install/local_setup.sh && ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -d -v4 &
             sleep 1
-            . /opt/ros/foxy/setup.sh && . install/local_setup.sh
-            colcon test --packages-select=rmw_microxrcedds --return-code-on-test-failure --ctest-args -E "(cpplint)|(lint_cmake)|(uncrustify)|(xmllint)"
+            . /opt/ros/$ROS_DISTRO/setup.sh && . install/local_setup.sh
+            colcon test --event-handlers console_direct+ --packages-select=rmw_microxrcedds --return-code-on-test-failure
             ./build/rmw_microxrcedds/test/test-sizes 2> memanalisys_out
 
         - name: Static memory
@@ -56,28 +56,3 @@ jobs:
             curl -s https://codecov.io/bash -o codecov.bash && chmod +x codecov.bash
             ./codecov.bash -t ${{ secrets.CODECOV_TOKEN }}
 
-    rmw_microxrcedds_uncrustify:
-        runs-on: ubuntu-20.04
-        container: microros/micro-ros-agent:foxy
-
-        steps:
-        - uses: actions/checkout@v2
-          with:
-            path: src/rmw-microxrcedds
-
-        - name: Uncrustify
-          run: |
-            # Install Uncrustify
-            git clone https://github.com/uncrustify/uncrustify.git --branch uncrustify-0.72.0 --single-branch uncrustify
-            mkdir -p uncrustify/build
-            cd uncrustify/build
-            cmake -DCMAKE_INSTALL_PREFIX=../install ..
-            cmake --build . --target install -- -j$(nproc)
-            cd ../..
-            export PATH=${PWD}/uncrustify/install/bin:$PATH
-            # Check Uncrustify
-            cd src/rmw-microxrcedds/rmw_microxrcedds_c
-            curl -l https://raw.githubusercontent.com/eProsima/cpp-style/master/uncrustify.cfg -o uncrustify.cfg
-            find src test include \( -name "*.cpp" -o -name "*.c" -o -name "*.h" -o -name "*.hpp" \) -exec uncrustify -c uncrustify.cfg --check {} +
-
-

.github/workflows/uncrustify.yml

@@ -8,6 +8,7 @@ jobs:
     run_uncrustify:
       if: contains(github.event.comment.html_url, '/pull/') && contains(github.event.comment.body, 'Marie Kondo')
       runs-on: ubuntu-latest
+      container: ros:foxy
       steps:
         - uses: xt0rted/pull-request-comment-branch@v1
           id: comment-branch
@@ -19,19 +20,10 @@ jobs:
               path: repo
               ref: ${{ steps.comment-branch.outputs.head_ref }}
         - name: Style
-          run: | 
-            # Install Uncrustify
-            git clone https://github.com/uncrustify/uncrustify.git --branch uncrustify-0.72.0 --single-branch uncrustify
-            mkdir -p uncrustify/build
-            cd uncrustify/build
-            cmake -DCMAKE_INSTALL_PREFIX=../install ..
-            cmake --build . --target install -- -j$(nproc)
-            cd ../..
-            export PATH=${PWD}/uncrustify/install/bin:$PATH
+          run: |
             # Exec Uncrustify
             cd repo
-            curl -l https://raw.githubusercontent.com/eProsima/cpp-style/master/uncrustify.cfg -o uncrustify.cfg
-            find . \( -name "*.cpp" -o -name "*.c" -o -name "*.h" -o -name "*.hpp" \) -exec uncrustify -c uncrustify.cfg --replace --no-backup {} +
+            . /opt/ros/$ROS_DISTRO/setup.sh && ament_uncrustify --reformat
             # Commit
             git config user.name "GitHub Actions Bot"
             git config user.email "<>"

rmw_microxrcedds_c/CMakeLists.txt

@@ -21,7 +21,7 @@ project(rmw_microxrcedds
     ${PACKAGE_VERSION}
   LANGUAGES
     C
-  )
+)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
@@ -34,9 +34,8 @@ find_package(rmw REQUIRED)
 
 # Build options
 option(BUILD_DOCUMENTATION "Use doxygen to create product documentation" OFF)
-
-# RMW profile options
 option(RMW_UXRCE_GRAPH "Allows to perform graph-related operations to the user" OFF)
+
 if(RMW_UXRCE_GRAPH)
   find_package(micro_ros_msgs REQUIRED)
 endif()
@@ -159,7 +158,7 @@ set(SRCS
   $<$<BOOL:${RMW_UXRCE_TRANSPORT_UDP}>:src/rmw_microros/discovery.c>
   $<$<BOOL:${RMW_UXRCE_TRANSPORT_CUSTOM}>:src/rmw_microros/custom_transport.c>
   $<$<BOOL:${RMW_UXRCE_GRAPH}>:src/rmw_graph.c>
-  )
+)
 
 add_library(${PROJECT_NAME}
   ${SRCS})
@@ -175,7 +174,7 @@ if(RMW_UXRCE_GRAPH)
 
   ament_target_dependencies(${PROJECT_NAME}
     "micro_ros_msgs"
-  )
+)
 endif()
 
 target_link_libraries(${PROJECT_NAME}
@@ -189,44 +188,47 @@ find_package(rosidl_typesupport_microxrcedds_c)
 if(rosidl_typesupport_microxrcedds_c_FOUND)
   ament_target_dependencies(${PROJECT_NAME}
     "rosidl_typesupport_microxrcedds_c"
-  )
+)
   target_compile_definitions(${PROJECT_NAME}
     PUBLIC
       HAVE_C_TYPESUPPORT
-  )
+)
   find_package(rosidl_typesupport_microxrcedds_cpp)
 else()
   find_package(rosidl_typesupport_microxrcedds_cpp REQUIRED)
 endif()
 if(rosidl_typesupport_microxrcedds_cpp_FOUND)
   ament_target_dependencies(${PROJECT_NAME}
     "rosidl_typesupport_microxrcedds_cpp"
-  )
+)
   target_compile_definitions(${PROJECT_NAME}
     PUBLIC
       HAVE_CPP_TYPESUPPORT
-  )
+)
 endif()
 
 ament_target_dependencies(${PROJECT_NAME}
   "rcutils"
   "rmw"
   "microxrcedds_client"
-  )
+)
 
 configure_rmw_library(${PROJECT_NAME})
 
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>)
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+  PRIVATE
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src>
+)
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
   C_STANDARD
     99
   C_STANDARD_REQUIRED
     YES
-  )
+)
 
 target_compile_options(${PROJECT_NAME}
   PRIVATE
@@ -237,7 +239,7 @@ target_compile_options(${PROJECT_NAME}
     $<$<C_COMPILER_ID:GNU>:$<$<VERSION_GREATER:$<C_COMPILER_VERSION>,8.1>:-Wcast-align=strict>>
     $<$<C_COMPILER_ID:GNU>:-Wvla>
     $<$<C_COMPILER_ID:MSVC>:/Wall>
-  )
+)
 
 file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/include)
 
@@ -250,7 +252,7 @@ ament_export_dependencies(
   rcutils
   rmw
   microxrcedds_client
-  )
+)
 
 if(rosidl_typesupport_microxrcedds_c_FOUND)
   ament_export_dependencies(rosidl_typesupport_microxrcedds_c)
@@ -261,13 +263,13 @@ if(rosidl_typesupport_microxrcedds_cpp_FOUND)
   set(implementations
     ${implementations}
     "cpp:rosidl_typesupport_cpp:rosidl_typesupport_microxrcedds_cpp"
-  )
+)
 endif()
 
 register_rmw_implementation(${implementations})
 
 if(BUILD_TESTING)
-  # Pedantic in CI 
+  # Pedantic in CI
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror")
 
@@ -324,15 +326,15 @@ install(
     ${PROJECT_SOURCE_DIR}/include/
   DESTINATION
     include
-  )
+)
 
 # Install config.h file.
 install(
   FILES
     ${PROJECT_BINARY_DIR}/include/rmw_microxrcedds_c/config.h
   DESTINATION
     include/rmw_microxrcedds_c
-  )
+)
 
 # Install library.
 install(
@@ -344,12 +346,11 @@ install(
     lib
   RUNTIME DESTINATION
     bin
-  )
+)
 
 if(BUILD_DOCUMENTATION)
   # Instalation of doxygen files
   install(DIRECTORY ${PROJECT_BINARY_DIR}/doc/api_reference
       DESTINATION ${DOC_INSTALL_DIR}
-      COMPONENT documentation
-      )
+      COMPONENT documentation)
 endif()

rmw_microxrcedds_c/include/rmw_microros/continous_serialization.h

@@ -28,12 +28,12 @@
 #if defined(__cplusplus)
 extern "C"
 {
-#endif // if defined(__cplusplus)
+#endif  // if defined(__cplusplus)
 
 typedef void (* rmw_uros_continous_serialization_size)(
-        uint32_t* topic_length);
+  uint32_t * topic_length);
 typedef void (* rmw_uros_continous_serialization)(
-        ucdrBuffer* ucdr);
+  ucdrBuffer * ucdr);
 
 /** \addtogroup rmw micro-ROS RMW API
  *  @{
@@ -47,14 +47,14 @@ typedef void (* rmw_uros_continous_serialization)(
  * \param[in] serialization_cb callback that should serialize the user part of the message
  */
 void rmw_uros_set_continous_serialization_callbacks(
-        rmw_publisher_t* publisher,
-        rmw_uros_continous_serialization_size size_cb,
-        rmw_uros_continous_serialization serialization_cb);
+  rmw_publisher_t * publisher,
+  rmw_uros_continous_serialization_size size_cb,
+  rmw_uros_continous_serialization serialization_cb);
 
 /** @}*/
 
 #if defined(__cplusplus)
 }
-#endif // if defined(__cplusplus)
+#endif  // if defined(__cplusplus)
 
 #endif  // RMW_MICROROS__CONTINOUS_SERIALIZATION_H_

rmw_microxrcedds_c/include/rmw_microros/custom_transport.h

@@ -16,8 +16,8 @@
  * @file
  */
 
-#ifndef RMW_MICROROS__CUSTOM_TRANSPORTS_H_
-#define RMW_MICROROS__CUSTOM_TRANSPORTS_H_
+#ifndef RMW_MICROROS__CUSTOM_TRANSPORT_H_
+#define RMW_MICROROS__CUSTOM_TRANSPORT_H_
 
 #include <rmw/rmw.h>
 #include <rmw/ret_types.h>
@@ -30,7 +30,7 @@
 #if defined(__cplusplus)
 extern "C"
 {
-#endif // if defined(__cplusplus)
+#endif  // if defined(__cplusplus)
 
 /** \addtogroup rmw micro-ROS RMW API
  *  @{
@@ -49,17 +49,17 @@ extern "C"
  * \return RMW_RET_ERROR If invalid.
  */
 rmw_ret_t rmw_uros_set_custom_transport(
-        bool framing,
-        void* args,
-        open_custom_func open_cb,
-        close_custom_func close_cb,
-        write_custom_func write_cb,
-        read_custom_func read_cb);
+  bool framing,
+  void * args,
+  open_custom_func open_cb,
+  close_custom_func close_cb,
+  write_custom_func write_cb,
+  read_custom_func read_cb);
 
 /** @}*/
 
 #if defined(__cplusplus)
 }
-#endif // if defined(__cplusplus)
+#endif  // if defined(__cplusplus)
 
-#endif  // RMW_MICROROS__CUSTOM_TRANSPORTS_H_
+#endif  // RMW_MICROROS__CUSTOM_TRANSPORT_H_

rmw_microxrcedds_c/include/rmw_microros/discovery.h

@@ -28,7 +28,7 @@
 #if defined(__cplusplus)
 extern "C"
 {
-#endif // if defined(__cplusplus)
+#endif  // if defined(__cplusplus)
 
 /** \addtogroup rmw micro-ROS RMW API
  *  @{
@@ -43,12 +43,12 @@ extern "C"
  * \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
  */
 rmw_ret_t rmw_uros_discover_agent(
-        rmw_init_options_t* rmw_options);
+  rmw_init_options_t * rmw_options);
 
 /** @}*/
 
 #if defined(__cplusplus)
 }
-#endif // if defined(__cplusplus)
+#endif  // if defined(__cplusplus)
 
 #endif  // RMW_MICROROS__DISCOVERY_H_