From 88f24502df6eb31dc8903c84a6e29a7fe05673ba Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 23 Feb 2024 09:43:56 +0000 Subject: [PATCH 1/5] Use pre-commit workflow and update settings --- .github/workflows/ci-format.yml | 23 ----------- .github/workflows/ci-ros-lint.yml | 50 ------------------------ .github/workflows/humble-pre-commit.yml | 14 +++++++ .github/workflows/iron-pre-commit.yml | 14 +++++++ .github/workflows/rolling-pre-commit.yml | 14 +++++++ .github/workflows/update-pre-commit.yml | 12 ++++++ .pre-commit-config.yaml | 30 ++++++++------ 7 files changed, 72 insertions(+), 85 deletions(-) delete mode 100644 .github/workflows/ci-format.yml delete mode 100644 .github/workflows/ci-ros-lint.yml create mode 100644 .github/workflows/humble-pre-commit.yml create mode 100644 .github/workflows/iron-pre-commit.yml create mode 100644 .github/workflows/rolling-pre-commit.yml create mode 100644 .github/workflows/update-pre-commit.yml diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml deleted file mode 100644 index 569bb95e24..0000000000 --- a/.github/workflows/ci-format.yml +++ /dev/null @@ -1,23 +0,0 @@ -# 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@v5.0.0 - with: - python-version: '3.10' - - name: Install system hooks - run: sudo apt install -qq cppcheck - - uses: pre-commit/action@v3.0.1 - with: - extra_args: --all-files --hook-stage manual diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml deleted file mode 100644 index 785afa5ede..0000000000 --- a/.github/workflows/ci-ros-lint.yml +++ /dev/null @@ -1,50 +0,0 @@ -name: ROS Lint -on: - pull_request: - -env: - package-name: - controller_interface - controller_manager - controller_manager_msgs - hardware_interface - hardware_interface_testing - ros2controlcli - ros2_control - ros2_control_test_assets - transmission_interface - -jobs: - ament_lint: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [cppcheck, copyright, lint_cmake] - env: - AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: rolling - linter: ${{ matrix.linter }} - package-name: ${{ env.package-name }} - ament_lint_100: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - linter: [cpplint] - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: rolling - linter: cpplint - arguments: "--linelength=100 --filter=-whitespace/newline" - package-name: ${{ env.package-name }} diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml new file mode 100644 index 0000000000..be8c84b05b --- /dev/null +++ b/.github/workflows/humble-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Humble + +on: + workflow_dispatch: + pull_request: + branches: + - humble + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: humble + os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml new file mode 100644 index 0000000000..60ad26d073 --- /dev/null +++ b/.github/workflows/iron-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Iron + +on: + workflow_dispatch: + pull_request: + branches: + - iron + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: iron + os_name: ubuntu-22.04 diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml new file mode 100644 index 0000000000..9c87311bd7 --- /dev/null +++ b/.github/workflows/rolling-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Rolling + +on: + workflow_dispatch: + pull_request: + branches: + - master + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: rolling + os_name: ubuntu-22.04 diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml new file mode 100644 index 0000000000..8b9545dff1 --- /dev/null +++ b/.github/workflows/update-pre-commit.yml @@ -0,0 +1,12 @@ +name: Auto Update pre-commit +# Update pre-commit config and create PR if changes are detected +# author: Christoph Fröhlich + +on: + workflow_dispatch: + schedule: + - cron: '0 0 * * 0' # Run every Sunday at midnight + +jobs: + auto_update_and_create_pr: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6e6d41cc9c..ec3cbbf35f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -16,7 +16,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v4.5.0 hooks: - id: check-added-large-files - id: check-ast @@ -36,7 +36,7 @@ repos: # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v3.4.0 + rev: v3.15.1 hooks: - id: pyupgrade args: [--py36-plus] @@ -49,40 +49,38 @@ repos: args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] - repo: https://github.com/psf/black - rev: 23.3.0 + rev: 24.2.0 hooks: - id: black args: ["--line-length=99"] - repo: https://github.com/pycqa/flake8 - rev: 6.0.0 + rev: 7.0.0 hooks: - id: flake8 args: ["--extend-ignore=E501"] # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v15.0.6 + rev: v17.0.6 hooks: - id: clang-format + args: ['-fallback-style=none', '-i'] - repo: local hooks: - id: ament_cppcheck name: ament_cppcheck description: Static code analysis of C/C++ files. - stages: [commit] - entry: ament_cppcheck + 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)$ - # Maybe use https://github.com/cpplint/cpplint instead - repo: local hooks: - id: ament_cpplint name: ament_cpplint 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)$ @@ -94,7 +92,6 @@ repos: - 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$ @@ -105,7 +102,6 @@ repos: - id: ament_copyright name: ament_copyright description: Check if copyright notice is available in all files. - stages: [commit] entry: ament_copyright language: system @@ -128,8 +124,18 @@ repos: # Spellcheck in comments and docs # skipping of *.svg files is not working... - repo: https://github.com/codespell-project/codespell - rev: v2.2.4 + rev: v2.2.6 hooks: - id: codespell args: ['--write-changes'] exclude: CHANGELOG\.rst|\.(svg|pyc)$ + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.28.0 + hooks: + - id: check-github-workflows + args: ["--verbose"] + - id: check-github-actions + args: ["--verbose"] + - id: check-dependabot + args: ["--verbose"] From 0091900b873e8ccad4ce9031ea6d11502ec62c94 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 23 Feb 2024 09:46:22 +0000 Subject: [PATCH 2/5] Fix format --- controller_manager/src/controller_manager.cpp | 2 +- .../test/controller_manager_test_common.hpp | 2 +- hardware_interface/test/test_handle.cpp | 8 ++------ 3 files changed, 4 insertions(+), 8 deletions(-) diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index ee2ee87218..2112708638 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/controller_manager/src/controller_manager.cpp @@ -341,7 +341,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String & RCLCPP_INFO(get_logger(), "Received robot description from topic."); RCLCPP_DEBUG( get_logger(), "'Content of robot description file: %s", robot_description.data.c_str()); - // TODO(Manuel): errors should probably be caught since we don't want controller_manager node + // TODO(mamueluth): errors should probably be caught since we don't want controller_manager node // to die if a non valid urdf is passed. However, should maybe be fine tuned. try { diff --git a/controller_manager/test/controller_manager_test_common.hpp b/controller_manager/test/controller_manager_test_common.hpp index 7bf5cae628..ac66392a13 100644 --- a/controller_manager/test/controller_manager_test_common.hpp +++ b/controller_manager/test/controller_manager_test_common.hpp @@ -88,7 +88,7 @@ class ControllerManagerFixture : public ::testing::Test } else { - // TODO(Manuel) : passing via topic not working in test setup, tested cm does + // TODO(mamueluth) : passing via topic not working in test setup, tested cm does // not receive msg. Have to check this... // this is just a workaround to skip passing diff --git a/hardware_interface/test/test_handle.cpp b/hardware_interface/test/test_handle.cpp index 16ca710e9d..da8258c643 100644 --- a/hardware_interface/test/test_handle.cpp +++ b/hardware_interface/test/test_handle.cpp @@ -27,9 +27,7 @@ constexpr auto FOO_INTERFACE = "FooInterface"; TEST(TestHandle, command_interface) { double value = 1.337; - CommandInterface interface { - JOINT_NAME, FOO_INTERFACE, &value - }; + CommandInterface interface{JOINT_NAME, FOO_INTERFACE, &value}; EXPECT_DOUBLE_EQ(interface.get_value(), value); EXPECT_NO_THROW(interface.set_value(0.0)); EXPECT_DOUBLE_EQ(interface.get_value(), 0.0); @@ -38,9 +36,7 @@ TEST(TestHandle, command_interface) TEST(TestHandle, state_interface) { double value = 1.337; - StateInterface interface { - JOINT_NAME, FOO_INTERFACE, &value - }; + StateInterface interface{JOINT_NAME, FOO_INTERFACE, &value}; EXPECT_DOUBLE_EQ(interface.get_value(), value); // interface.set_value(5); compiler error, no set_value function } From 346dfad65c9aff40648d4d69e2ede9eb77f2f716 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 23 Feb 2024 09:54:48 +0000 Subject: [PATCH 3/5] Fix more pre-commit errors --- CONTRIBUTING.md | 5 +++-- rqt_controller_manager/setup.py | 14 ++++++++++++++ 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index d9cdc27041..df91cfbf20 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -54,7 +54,9 @@ As this project, by default, uses the default GitHub issue labels ## Licensing -Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license]: +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, @@ -69,4 +71,3 @@ Any contribution that you make to this repository will be under the Apache 2 Lic [issues]: https://github.com/ros-controls/ros2_control/issues [closed-issues]: https://github.com/ros-controls/ros2_control/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20 [help-wanted]: https://github.com/ros-controls/ros2_control/issues?q=is%3Aopen+is%3Aissue+label%3A%22help+wanted%22 -[license]: http://www.apache.org/licenses/LICENSE-2.0.html diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py index bcde9ff7da..44ef78ced2 100644 --- a/rqt_controller_manager/setup.py +++ b/rqt_controller_manager/setup.py @@ -1,3 +1,17 @@ +# Copyright 2024 Apache License, Version 2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from glob import glob from setuptools import setup From 48fb02ada447745a519c71ef35bda5430ffc799d Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 23 Feb 2024 09:56:45 +0000 Subject: [PATCH 4/5] Update coverage builds --- .github/workflows/ci-coverage-build.yml | 53 -------------------- .github/workflows/humble-coverage-build.yml | 17 +++++++ .github/workflows/iron-coverage-build.yml | 17 +++++++ .github/workflows/rolling-coverage-build.yml | 17 +++++++ 4 files changed, 51 insertions(+), 53 deletions(-) delete mode 100644 .github/workflows/ci-coverage-build.yml create mode 100644 .github/workflows/humble-coverage-build.yml create mode 100644 .github/workflows/iron-coverage-build.yml create mode 100644 .github/workflows/rolling-coverage-build.yml diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml deleted file mode 100644 index 2e353211ba..0000000000 --- a/.github/workflows/ci-coverage-build.yml +++ /dev/null @@ -1,53 +0,0 @@ -name: Coverage Build -on: - workflow_dispatch: - push: - branches: - - master - pull_request: - branches: - - master - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: rolling - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed in the meta package - package-name: - controller_interface - controller_manager - hardware_interface - hardware_interface_testing - transmission_interface - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - with: - name: colcon-logs-ubuntu-22.04-coverage-rolling - path: ros_ws/log diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml new file mode 100644 index 0000000000..0910572227 --- /dev/null +++ b/.github/workflows/humble-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Humble +on: + workflow_dispatch: + push: + branches: + - humble + pull_request: + branches: + - humble + +jobs: + coverage_humble: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: humble + os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml new file mode 100644 index 0000000000..d82c52bf51 --- /dev/null +++ b/.github/workflows/iron-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Iron +on: + workflow_dispatch: + push: + branches: + - iron + pull_request: + branches: + - iron + +jobs: + coverage_iron: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: iron + os_name: ubuntu-22.04 diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml new file mode 100644 index 0000000000..4d4750c54c --- /dev/null +++ b/.github/workflows/rolling-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Rolling +on: + workflow_dispatch: + push: + branches: + - master + pull_request: + branches: + - master + +jobs: + coverage_rolling: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: rolling + os_name: ubuntu-22.04 From 7ed172477a0ea64858644585645be1f05269c701 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 23 Feb 2024 10:18:18 +0000 Subject: [PATCH 5/5] Exclude manuel from codespell --- .pre-commit-config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ec3cbbf35f..6da427c6ee 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -127,8 +127,8 @@ repos: rev: v2.2.6 hooks: - id: codespell - args: ['--write-changes'] - exclude: CHANGELOG\.rst|\.(svg|pyc)$ + args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel'] + exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$ - repo: https://github.com/python-jsonschema/check-jsonschema rev: 0.28.0