Add C++ and CMake pre-commit hooks (#568)

* ci(pre-commit): add CI workflow for checking pre-commit hooks

* ci(pre-commit): add hooks for cpp and CMake

* refactor(pre-commit.yml): now uses the workflow on main

* docs(README.md): update status badge for pre-commit

* refactor(ci): move local hooks into a different config file

* docs(README.md): update status badge for pre-commit

* refactor(ci): pre-commit.yml now only runs on pull_request and workflow_dispatch

* ci(pre-commit-local): ignore build/include_order in ament_cpplint since conflict with clang-format

* refactor: fix ament_cpplint and cppcheck warnings

* ci(pre-commit-config-local): increase line length to 120 for ament_cpplint due to some lines being longer

* refactor: fix ament_cpplint and cppcheck warnings

* chore(pre-commit): exclude test dirs from ament_cppcheck to avoid false positives

* ci(pre-commit): update workflow to run on push to main and pull_request

Author: kluge7

.github/workflows/pre-commit.yml

@@ -0,0 +1,15 @@
+name: pre-commit
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    types: [ opened, synchronize, reopened, ready_for_review ]
+  workflow_dispatch:
+jobs:
+  call_reusable_workflow:
+    uses: vortexntnu/vortex-ci/.github/workflows/reusable-pre-commit.yml@main
+    with:
+        ros_distro: 'humble'
+        config_path: '.pre-commit-config-local.yaml'

.pre-commit-config-local.yaml

@@ -0,0 +1,47 @@
+# To use:
+#
+#     pre-commit run --all-files -c .pre-commit-config-local.yaml
+#
+# Or to install it for automatic checks on commit:
+#
+#     pre-commit install -c .pre-commit-config-local.yaml
+#
+# To update this file:
+#
+#     pre-commit autoupdate -c .pre-commit-config-local.yaml
+#
+# See https://pre-commit.com/ for documentation
+#
+# NOTE: This configuration uses local hooks specific to ROS2 (ament_* linters)
+
+repos:
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        exclude: (^|/)(test|tests)/.*  # exclude test dirs since ament_cppcheck misparses GTest macros and throws false syntax errors
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: [
+          "--linelength=120",
+          "--filter=-whitespace/newline,-legal/copyright,-build/include_order" # ignore build/include_order since it conflicts with .clang-format
+        ]
+  # CMake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$

control/dp_adapt_backs_controller/include/dp_adapt_backs_controller/dp_adapt_backs_controller.hpp

@@ -1,5 +1,5 @@
-#ifndef DP_ADAPT_BACKS_CONTROLLER_HPP
-#define DP_ADAPT_BACKS_CONTROLLER_HPP
+#ifndef DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_HPP_
+#define DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_HPP_
 
 #include <eigen3/Eigen/Dense>
 #include <vortex/utils/types.hpp>
@@ -59,4 +59,4 @@ class DPAdaptBacksController {
 
 }  // namespace vortex::control
 
-#endif  // DP_ADAPT_BACKS_CONTROLLER_HPP
+#endif  // DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_HPP_

control/dp_adapt_backs_controller/include/dp_adapt_backs_controller/dp_adapt_backs_controller_ros.hpp

@@ -1,16 +1,18 @@
-#ifndef DP_ADAPT_BACKS_CONTROLLER_ROS_HPP
-#define DP_ADAPT_BACKS_CONTROLLER_ROS_HPP
+#ifndef DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_ROS_HPP_
+#define DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_ROS_HPP_
 
 #include <chrono>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/wrench_stamped.hpp>
+#include <memory>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/bool.hpp>
 #include <std_msgs/msg/float64_multi_array.hpp>
 #include <std_msgs/msg/string.hpp>
+#include <string>
 #include <vortex/utils/types.hpp>
 #include <vortex_msgs/msg/reference_filter.hpp>
 #include "dp_adapt_backs_controller/dp_adapt_backs_controller.hpp"
@@ -93,4 +95,4 @@ class DPAdaptBacksControllerNode : public rclcpp::Node {
 
 }  // namespace vortex::control
 
-#endif
+#endif  // DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_ROS_HPP_

control/dp_adapt_backs_controller/include/dp_adapt_backs_controller/dp_adapt_backs_controller_utils.hpp

@@ -1,5 +1,5 @@
-#ifndef DP_ADAPT_BACKS_CONTROLLER_UTILS_HPP
-#define DP_ADAPT_BACKS_CONTROLLER_UTILS_HPP
+#ifndef DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_UTILS_HPP_
+#define DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_UTILS_HPP_
 
 #include <vortex/utils/types.hpp>
 #include "dp_adapt_backs_controller/typedefs.hpp"
@@ -50,4 +50,4 @@ Eigen::Matrix6x12d calculate_Y_v(const vortex::utils::types::Nu& nu);
 
 }  // namespace vortex::control
 
-#endif
+#endif  // DP_ADAPT_BACKS_CONTROLLER__DP_ADAPT_BACKS_CONTROLLER_UTILS_HPP_

control/dp_adapt_backs_controller/include/dp_adapt_backs_controller/typedefs.hpp

@@ -3,8 +3,8 @@
  * @brief Contains the Eigen typedefs for the controller.
  */
 
-#ifndef VORTEX_DP_ADAPT_BACKSTEPPING_CONTROLLER_TYPEDEFS_H
-#define VORTEX_DP_ADAPT_BACKSTEPPING_CONTROLLER_TYPEDEFS_H
+#ifndef DP_ADAPT_BACKS_CONTROLLER__TYPEDEFS_HPP_
+#define DP_ADAPT_BACKS_CONTROLLER__TYPEDEFS_HPP_
 
 #include <eigen3/Eigen/Dense>
 
@@ -19,4 +19,4 @@ typedef Eigen::Matrix<double, 12, 12> Matrix12d;
 
 }  // namespace Eigen
 
-#endif
+#endif  // DP_ADAPT_BACKS_CONTROLLER__TYPEDEFS_HPP_

control/dp_adapt_backs_controller/src/dp_adapt_backs_controller_ros.cpp

@@ -8,7 +8,7 @@
 #include "dp_adapt_backs_controller/dp_adapt_backs_controller_utils.hpp"
 #include "dp_adapt_backs_controller/typedefs.hpp"
 
-const std::string start_message = R"(
+constexpr std::string_view start_message = R"(
   ____  ____     ____            _             _ _
  |  _ \|  _ \   / ___|___  _ __ | |_ _ __ ___ | | | ___ _ __
  | | | | |_) | | |   / _ \| '_ \| __| '__/ _ \| | |/ _ \ '__|

control/pid_controller_dp/include/pid_controller_dp/pid_controller.hpp

@@ -1,11 +1,11 @@
-#ifndef PID_CONTROLLER_HPP
-#define PID_CONTROLLER_HPP
+#ifndef PID_CONTROLLER_DP__PID_CONTROLLER_HPP_
+#define PID_CONTROLLER_DP__PID_CONTROLLER_HPP_
 
 #include "pid_controller_dp/typedefs.hpp"
 
 class PIDController {
    public:
-    explicit PIDController();
+    PIDController();
 
     // @brief Calculate the control input tau
     // @param eta: struct containing the vehicle pose [position, orientation]
@@ -44,4 +44,4 @@ class PIDController {
     double dt_;
 };
 
-#endif
+#endif  // PID_CONTROLLER_DP__PID_CONTROLLER_HPP_

control/pid_controller_dp/include/pid_controller_dp/pid_controller_conversions.hpp

@@ -1,5 +1,5 @@
-#ifndef PID_CONTROLLER_CONVERSIONS_HPP
-#define PID_CONTROLLER_CONVERSIONS_HPP
+#ifndef PID_CONTROLLER_DP__PID_CONTROLLER_CONVERSIONS_HPP_
+#define PID_CONTROLLER_DP__PID_CONTROLLER_CONVERSIONS_HPP_
 
 #include <cmath>
 #include <eigen3/Eigen/Geometry>
@@ -15,4 +15,4 @@ types::Eta eta_convert_from_ros_to_eigen(
 types::Nu nu_convert_from_ros_to_eigen(
     const geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg);
 
-#endif
+#endif  // PID_CONTROLLER_DP__PID_CONTROLLER_CONVERSIONS_HPP_

control/pid_controller_dp/include/pid_controller_dp/pid_controller_ros.hpp

@@ -1,5 +1,5 @@
-#ifndef PID_CONTROLLER_ROS_HPP
-#define PID_CONTROLLER_ROS_HPP
+#ifndef PID_CONTROLLER_DP__PID_CONTROLLER_ROS_HPP_
+#define PID_CONTROLLER_DP__PID_CONTROLLER_ROS_HPP_
 
 #include <chrono>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -11,6 +11,7 @@
 #include <std_msgs/msg/bool.hpp>
 #include <std_msgs/msg/float64_multi_array.hpp>
 #include <std_msgs/msg/string.hpp>
+#include <string>
 #include <variant>
 #include <vortex_msgs/msg/reference_filter.hpp>
 #include "pid_controller_dp/pid_controller.hpp"
@@ -19,7 +20,7 @@
 // @brief Class for the PID controller node
 class PIDControllerNode : public rclcpp::Node {
    public:
-    explicit PIDControllerNode();
+    PIDControllerNode();
 
    private:
     // @brief Callback function for the killswitch topic
@@ -95,4 +96,4 @@ class PIDControllerNode : public rclcpp::Node {
     std::string software_mode_;
 };
 
-#endif
+#endif  // PID_CONTROLLER_DP__PID_CONTROLLER_ROS_HPP_