add codespell and precommit to CI (#120)

* add codespell and precommit to CI * update config * add clang format config * pre-commit format * remove linters from test * remove linter tests * add init.py * cleanup * bug template * bug template * fix * add launch tests * replace pthread * format * fix test * fix lib installs * format --------- Co-authored-by: Svastits <49677296+Svastits@users.noreply.github.com> Co-authored-by: Aron Svastits <svastits1@gmail.com>
kroshu · Jan 5, 2024 · f3ed324 · f3ed324
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,16 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+InsertBraces: true
+...
diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -0,0 +1,80 @@
+name: "Bug Report"
+description: Create a new ticket for a bug.
+title: "[BUG] - <title>"
+labels: [
+  "bug"
+]
+body:
+  - type: textarea
+    id: description
+    attributes:
+      label: "Description"
+      description: Please enter an explicit description of your issue
+      placeholder: Describe your issue in a few sentences
+    validations:
+      required: true
+  - type: dropdown
+    id: robot-os
+    attributes:
+      label: "KUKA robot OS"
+      description: Version of the KUKA OS are you using
+      multiple: true
+      options:
+        - KSS
+        - Sunrise
+        - iiQKA
+  - type: input
+    id: os-version
+    attributes:
+      label: "KUKA robot OS version"
+      description: Version of the KUKA robot OS
+      placeholder: eg. KSS 8.6
+    validations:
+      required: true
+  - type: input
+    id: if-version
+    attributes:
+      label: "KUKA external interface version"
+      description: Version of the KUKA external interface
+      placeholder: eg. RSI 4.1.3
+    validations:
+      required: true
+  - type: input
+    id: robot-model
+    attributes:
+      label: "Affected robot model(s)"
+      description: Robot model the issue came up with
+      placeholder: eg. KR10 R1100-2
+    validations:
+      required: true
+  - type: input
+    id: driver-version
+    attributes:
+      label: "Version or commit hash of the driver"
+      description: If the issue came up with an older version (not master), provide the release version or commit hash
+    validations:
+      required: false
+  - type: textarea
+    id: setup
+    attributes:
+      label: "Setup"
+      description: Describe your setup, launch files and executables started (optionally attach rqt_graph output), modifications to code
+      render: bash
+    validations:
+      required: true
+  - type: textarea
+    id: reprod
+    attributes:
+      label: "Reproduction steps"
+      description: Clear and ordered steps of reporoducing
+      render: bash
+    validations:
+      required: true
+  - type: textarea
+    id: logs
+    attributes:
+      label: "Logs"
+      description: Attach relevant log output here, mentioning if lines were omitted to help readability.
+      render: bash
+    validations:
+      required: false
diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -55,3 +55,14 @@ jobs:
       # Run industrial_ci
       - uses: 'kroshu/industrial_ci@master'
         env: ${{ matrix.env }}
+  codespell:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v4.7.1
+        with:
+          python-version: '3.10'
+      - run: pip install git+https://github.com/codespell-project/codespell.git
+      - uses: codespell-project/actions-codespell@v2
+        with:
+          check_filenames: true
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v4.7.1
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq cppcheck
+    - uses: pre-commit/action@v3.0.0
+      with:
+        extra_args: --all-files --hook-stage manual
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+__pycache__/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,140 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.4.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.0.0
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v15.0.6
+    hooks:
+      - id: clang-format
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*|.*/robot_application/.*
+
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=TRUE ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  # Maybe use https://github.com/cpplint/cpplint instead
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        exclude: .*/fri_client_sdk/.*|.*/mock/.*
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.4
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -42,4 +42,3 @@ be under the Apache 2 License, as dictated by that
    the terms of any separate license agreement you may have executed
    with Licensor regarding such Contributions.
 ~~~
-
diff --git a/README.md b/README.md
@@ -57,4 +57,3 @@ source ~/ros2_ws/install/setup.bash
 Documentation of this project can be found on the repository's [Wiki](https://github.com/kroshu/kuka_drivers/wiki) page.
 
 If you find something confusing, not working, or would like to contribute, please read our [contributing guide](CONTRIBUTING.md) before opening an issue or creating a pull request.
-
diff --git a/doc/wiki/Home.md b/doc/wiki/Home.md
@@ -59,7 +59,7 @@ The consequence of the lifecycle interface is, that 3 commands are necessary to
 
 The control mode specifications are also part of the common API. They are defined as an enum in the [`kuka_drivers_core`](https://github.com/kroshu/kuka_drivers/blob/master/kuka_drivers_core/include/kuka_drivers_core/control_mode.hpp) package, and have the following meaning:
 
-- joint position control: the driver streams cyclic position updates for every joint. 
+- joint position control: the driver streams cyclic position updates for every joint.
     - Needed command interface(s): `position`
 - joint impedance control: the driver streams cyclic position updates for every joint and additionally stiffness [Nm/rad] and normalized damping [-] attributes, which define how the joint reacts to external effects (around the setpoint position). The effect of gravity is compensated internally.
     - Needed command interface(s): `position`, `stiffness`, `damping`
@@ -98,7 +98,7 @@ The repository contains a few other packages aside from the 3 drivers:
 
 The `ros2_control` framework supports Moveit out-of-the-box, as the `joint_trajectory_controller` can interpolate the trajectories planned by it. Setting up Moveit is a little more complex, therefore an example package (`iiqka_moveit_example`) is provided to help developers.
 
-The package contains a [launch file](../../examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py) that starts the iiQKA driver, `rviz`, and the `move_group` server with the required configuration. The `robot_manager` lifecycle node should be configured and activated after startup. 
+The package contains a [launch file](../../examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py) that starts the iiQKA driver, `rviz`, and the `move_group` server with the required configuration. The `robot_manager` lifecycle node should be configured and activated after startup.
 
 After activation, the Motion Planning plugin can be added (`Add` -> `moveit_ros_visualisation` -> `MotionPlanning`) to plan trajectories from the `rviz` GUI. (`Planning group` in the `Planning` tab should be changed to `manipulator`.)
 
@@ -110,10 +110,8 @@ The package also contains examples of sending planning requests from C++ code, i
 
 Note: the first three examples should be executed consequently (without restarting the launch file) to ensure that the collision objects are indeed in the way of the trivial path. The 4. example should be executed independently, so that the collision box added in the other examples are not there (launch file should be restarted after the other examples).
 
-Note: The examples need user interaction in `rviz`, the `Next` button (`RvizVisualToolsGui` tab) should be pressed each time the logs indicate it. 
+Note: The examples need user interaction in `rviz`, the `Next` button (`RvizVisualToolsGui` tab) should be pressed each time the logs indicate it.
 
 ## Detailed setup and startup instructions
 
 For more detailed information about the drivers, visit the dedicated wiki pages for [KSS](https://github.com/kroshu/kuka_drivers/wiki/KSS_RSI), [Sunrise](https://github.com/kroshu/kuka_drivers/wiki/Sunrise_FRI) or [iiQKA](https://github.com/kroshu/kuka_drivers/wiki/iiQKA_EAC) robots.
-
-
diff --git a/doc/wiki/KSS_RSI.md b/doc/wiki/KSS_RSI.md
@@ -31,14 +31,14 @@ Windows runs behind the SmartHMI on the teach pad. Make sure that the **Windows
      - Select the entry **New** under **RSI Ethernet** in the tree structure and press **Edit**.
      - Enter the IP address and confirm with **OK**.
      - Close **RSI-Network** and maximize the SmartHMI.
-  
+
    **KRC5:**
    - Press the **Advanced** button and **New interface**.
    - Select **Mixed IP address** and keep the default **Receiving task: Target subnet** and **Real-time receiving Task: UDP**
    - Set the IP address to a different subnet then the **KLI interface**.
      - **Default gateway**: leave it empty
      - **Windows interface checkbox** should NOT be checked
-  
+
 3. Reboot the controller with a cold restart (**Shutdown > Check *Force cold start* and *Reload files* > Reboot control PC**).
 
 ##### Update and upload configuration files
@@ -100,7 +100,7 @@ The KSS driver currently does not have runtime parameters. Control mode cannot b
 
      -  After successful startup, the `robot_manager` node has to be activated to start the cyclic communication with the robot controller, see further steps (before this only a collapsed robot is visible in `rviz`):
 
-2. Configure and activate all components the driver: 
+2. Configure and activate all components the driver:
     ```
     ros2 lifecycle set robot_manager configure
     ros2 lifecycle set robot_manager activate
@@ -148,4 +148,4 @@ ros2 lifecycle set robot_manager activate
 
 - There are currently heap allocations in the control loop (hardware interface `read()` and `write()` functions), therefore the driver is not real-time safe
 - In case of an error on the controller side, the driver is not deactivated
-- Cartesian position control mode and I/O-s not yet supported
+- Cartesian position control mode and I/O-s not yet supported
diff --git a/doc/wiki/Realtime.md b/doc/wiki/Realtime.md
@@ -50,13 +50,13 @@
       scripts/config --disable SYSTEM_REVOCATION_LIST
       scripts/config --set-str SYSTEM_TRUSTED_KEYS ""
       ```
-   - Enable all new Ubuntu configurations: 
+   - Enable all new Ubuntu configurations:
       ```
       yes '' | make oldconfig
       ```
 
 #### Real-time adaptations
-   The kernel configuration must be modified to make it real-time-capable. Open GUI for modifications: 
+   The kernel configuration must be modified to make it real-time-capable. Open GUI for modifications:
    ```
    make menuconfig
    ```
@@ -92,7 +92,7 @@
       (X) performance
    ```
 
-Save (without modifying the name) and exit menuconfig. 
+Save (without modifying the name) and exit menuconfig.
 
 ### Build and install kernel
 
@@ -102,7 +102,7 @@ Save (without modifying the name) and exit menuconfig.
    ```
    After successful completion, there should be 4 debian packages in the `~/kernel` directory
 
-2. Install all kernel debian packages: 
+2. Install all kernel debian packages:
     ```
     sudo dpkg -i ../*.deb
     ```
@@ -116,8 +116,8 @@ Save (without modifying the name) and exit menuconfig.
 ## Configuration
 
 After installing the real-time kernel, the setting of scheduling priorities must be enabled for your user:
-- extend `/etc/security/limits.conf` with 
+- extend `/etc/security/limits.conf` with
 ```
 username	 -	 rtprio		 98
 ```
-- Restart the system
+- Restart the system
Original file line number	Diff line number	Diff line change
Expand Up		@@ -42,4 +42,3 @@ be under the Apache 2 License, as dictated by that
		the terms of any separate license agreement you may have executed
		with Licensor regarding such Contributions.
		~~~
Original file line number	Diff line number	Diff line change
Expand Up		@@ -57,4 +57,3 @@ source ~/ros2_ws/install/setup.bash
		Documentation of this project can be found on the repository's [Wiki](https://github.com/kroshu/kuka_drivers/wiki) page.

		If you find something confusing, not working, or would like to contribute, please read our [contributing guide](CONTRIBUTING.md) before opening an issue or creating a pull request.