Add format files and CI job

Signed-off-by: Paul Gesel <[email protected]>
pac48 · Nov 10, 2024 · 347d391 · 347d391
1 parent c093257
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diff --git a/.github/workflows/cmake-single-platform.yml b/.github/workflows/cmake-single-platform.yml
@@ -4,9 +4,9 @@ name: CMake on a single platform
 
 on:
   push:
-    branches: [ "main" ]
+    branches: ["main"]
   pull_request:
-    branches: [ "main" ]
+    branches: ["main"]
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
@@ -20,35 +20,35 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v4
-    - name: Set up Python 3.8
-      uses: actions/setup-python@v2
-      with:
-        python-version: 3.8
-    - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install urdf-parser-py jinja2 numpy
-    - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_TESTING=ON -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
-
-    - name: Build
-      # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target install
-
-    - name: Test
-      working-directory: ${{github.workspace}}/build
-      # Execute tests defined by the CMake configuration.
-      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-      run: ctest -C ${{env.BUILD_TYPE}}
-
-    - name: Configure CMake For Fetch Content
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/build_fetch -S ${{github.workspace}}/test/fetch_content_test -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-
-    - name: Build For Fetch Content
-      # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/build_fetch --config ${{env.BUILD_TYPE}}
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install urdf-parser-py jinja2 numpy
+      - name: Configure CMake
+        # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+        # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_TESTING=ON -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/install
+
+      - name: Build
+        # Build your program with the given configuration
+        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target install
+
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        # Execute tests defined by the CMake configuration.
+        # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+        run: ctest -C ${{env.BUILD_TYPE}}
+
+      - name: Configure CMake For Fetch Content
+        # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+        # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+        run: cmake -B ${{github.workspace}}/build_fetch -S ${{github.workspace}}/test/fetch_content_test -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+      - name: Build For Fetch Content
+        # Build your program with the given configuration
+        run: cmake --build ${{github.workspace}}/build_fetch --config ${{env.BUILD_TYPE}}
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -0,0 +1,15 @@
+name: format
+
+on:
+  # Run action on certain pull request events
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - uses: pre-commit/[email protected]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,67 @@
+repos:
+
+  # Runs pre-commit hooks and other file format checks.
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-builtin-literals
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-vcs-permalinks
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: forbid-new-submodules
+      - id: mixed-line-ending
+      - id: name-tests-test
+      - id: requirements-txt-fixer
+      - id: sort-simple-yaml
+      - id: trailing-whitespace
+
+  # Autoformats Python code.
+  - repo: https://github.com/psf/black.git
+    rev: 24.10.0
+    hooks:
+      - id: black
+
+  # Finds spelling issues in code.
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+
+  # Finds issues in YAML files.
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        files: \.(c|cc|cxx|cpp|h|hpp|hxx|)$
+        args: ["-fallback-style=none"]
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,43 +15,45 @@ include(CTest)
 include(fast_forward_kinematics.cmake)
 
 add_library(fast_forward_kinematics_header INTERFACE)
-target_include_directories(fast_forward_kinematics_header INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>
-)
-if (BUILD_TESTING)
-    add_subdirectory(test)
-endif ()
-
+target_include_directories(
+  fast_forward_kinematics_header
+  INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+            $<INSTALL_INTERFACE:include>)
+if(BUILD_TESTING)
+  add_subdirectory(test)
+endif()
 
 include(CMakePackageConfigHelpers)
 
-configure_package_config_file(fast_forward_kinematics-config.cmake.in fast_forward_kinematics-config.cmake
-        INSTALL_DESTINATION "${CMAKE_INSTALL_LIBDIR}/fast_forward_kinematics"
-        PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
-        NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+configure_package_config_file(
+  fast_forward_kinematics-config.cmake.in fast_forward_kinematics-config.cmake
+  INSTALL_DESTINATION "${CMAKE_INSTALL_LIBDIR}/fast_forward_kinematics"
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
 
-write_basic_package_version_file(fast_forward_kinematics-config-version.cmake
-        VERSION ${FFK_VERSION} COMPATIBILITY AnyNewerVersion)
+write_basic_package_version_file(
+  fast_forward_kinematics-config-version.cmake
+  VERSION ${FFK_VERSION}
+  COMPATIBILITY AnyNewerVersion)
 
-install(FILES
-        "${CMAKE_BINARY_DIR}/fast_forward_kinematics-config.cmake"
+install(
+  FILES "${CMAKE_BINARY_DIR}/fast_forward_kinematics-config.cmake"
         "${CMAKE_BINARY_DIR}/fast_forward_kinematics-config-version.cmake"
         "${CMAKE_SOURCE_DIR}/fast_forward_kinematics.cmake"
-        DESTINATION "${CMAKE_INSTALL_DATADIR}/fast_forward_kinematics/cmake")
+  DESTINATION "${CMAKE_INSTALL_DATADIR}/fast_forward_kinematics/cmake")
 
-install(DIRECTORY "${CMAKE_SOURCE_DIR}/code_generation" DESTINATION "${CMAKE_INSTALL_DATADIR}/fast_forward_kinematics/cmake")
-install(DIRECTORY include/ DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/fast_forward_kinematics")
+install(DIRECTORY "${CMAKE_SOURCE_DIR}/code_generation"
+        DESTINATION "${CMAKE_INSTALL_DATADIR}/fast_forward_kinematics/cmake")
+install(DIRECTORY include/
+        DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/fast_forward_kinematics")
 
 # Create an export set
-install(TARGETS fast_forward_kinematics_header EXPORT fast_forward_kinematicsTargets)
+install(TARGETS fast_forward_kinematics_header
+        EXPORT fast_forward_kinematicsTargets)
 # Targets files
-export(
-        EXPORT fast_forward_kinematicsTargets
-        FILE ${CMAKE_CURRENT_BINARY_DIR}/fast_forward_kinematics-targets.cmake
-)
+export(EXPORT fast_forward_kinematicsTargets
+       FILE ${CMAKE_CURRENT_BINARY_DIR}/fast_forward_kinematics-targets.cmake)
 install(
-        EXPORT fast_forward_kinematicsTargets
-        FILE fast_forward_kinematics-targets.cmake
-        DESTINATION lib/cmake/fast_forward_kinematics
-)
+  EXPORT fast_forward_kinematicsTargets
+  FILE fast_forward_kinematics-targets.cmake
+  DESTINATION lib/cmake/fast_forward_kinematics)
diff --git a/code_generation/get_num_joints.py b/code_generation/get_num_joints.py
@@ -4,9 +4,9 @@
 
 def run():
     parser = argparse.ArgumentParser()
-    parser.add_argument('urdf_file')
-    parser.add_argument('root_link_name')
-    parser.add_argument('tip_link_name')
+    parser.add_argument("urdf_file")
+    parser.add_argument("root_link_name")
+    parser.add_argument("tip_link_name")
     args = parser.parse_args()
 
     root_link_name = args.root_link_name
@@ -18,7 +18,7 @@ def run():
     while tip_link_name != root_link_name:
         tip_joint_name, tip_link_name = robot.parent_map[tip_link_name]
         joint = robot.joint_map[tip_joint_name]
-        if not joint.type == 'fixed':
+        if not joint.type == "fixed":
             joint_names.append(tip_joint_name)
 
     print(f"FAST_FK_NUMBER_OF_JOINTS={len(joint_names)}", end="")

diff --git a/code_generation/robot_config.cpp.template b/code_generation/robot_config.cpp.template
@@ -362,4 +362,4 @@ namespace fast_fk::internal {
     }
 
 }
-#endif
+#endif
diff --git a/code_generation/robot_config.cu.template b/code_generation/robot_config.cu.template
@@ -246,4 +246,4 @@ namespace fast_fk::internal {
         if (cudaerr != cudaSuccess)
             std::printf("kernel launch failed with error \"%s\".\n", cudaGetErrorString(cudaerr));
     }
-}
+}
diff --git a/code_generation/robot_gen.py b/code_generation/robot_gen.py
@@ -7,11 +7,11 @@
 
 def run():
     parser = argparse.ArgumentParser()
-    parser.add_argument('urdf_file')
-    parser.add_argument('fk_template')
-    parser.add_argument('fk_output_file')
-    parser.add_argument('root_link_name')
-    parser.add_argument('tip_link_name')
+    parser.add_argument("urdf_file")
+    parser.add_argument("fk_template")
+    parser.add_argument("fk_output_file")
+    parser.add_argument("root_link_name")
+    parser.add_argument("tip_link_name")
     args = parser.parse_args()
 
     root_link_name = args.root_link_name
@@ -24,17 +24,29 @@ def get_transform(joint):
         xyz = joint.origin.xyz
         T = np.eye(4)
 
-        yaw = np.array([[np.cos(rpy[2]), np.sin(rpy[2]), 0],
-                        [-np.sin(rpy[2]), np.cos(rpy[2]), 0],
-                        [0, 0, 1]])
-
-        pitch = np.array([[np.cos(rpy[1]), 0, np.sin(rpy[1])],
-                          [0, 1, 0],
-                          [-np.sin(rpy[1]), 0, np.cos(rpy[1])]])
-
-        roll = np.array([[1, 0, 0],
-                         [0, np.cos(rpy[0]), np.sin(rpy[0])],
-                         [0, -np.sin(rpy[0]), np.cos(rpy[0])]])
+        yaw = np.array(
+            [
+                [np.cos(rpy[2]), np.sin(rpy[2]), 0],
+                [-np.sin(rpy[2]), np.cos(rpy[2]), 0],
+                [0, 0, 1],
+            ]
+        )
+
+        pitch = np.array(
+            [
+                [np.cos(rpy[1]), 0, np.sin(rpy[1])],
+                [0, 1, 0],
+                [-np.sin(rpy[1]), 0, np.cos(rpy[1])],
+            ]
+        )
+
+        roll = np.array(
+            [
+                [1, 0, 0],
+                [0, np.cos(rpy[0]), np.sin(rpy[0])],
+                [0, -np.sin(rpy[0]), np.cos(rpy[0])],
+            ]
+        )
         T[:3, :3] = yaw @ pitch @ roll
         T[:3, 3] = xyz
 
@@ -53,40 +65,43 @@ def get_transform(joint):
     T_fixed = np.eye(4)
     for joint_name in joint_names:
         joint = robot.joint_map[joint_name]
-        if joint.type == 'fixed':
+        if joint.type == "fixed":
             T_fixed = T_fixed * get_transform(joint)
-        elif joint.type == 'revolute':
+        elif joint.type == "revolute":
             # TODO: need to add joint limits?
             T = get_transform(joint) @ T_fixed
             T_fixed = np.eye(4)
             rotations.append(T[:3, :3])
             offsets.append(T[:3, 3])
-            types.append('revolute')
-        elif joint.type == 'continuous':
+            types.append("revolute")
+        elif joint.type == "continuous":
             T = get_transform(joint) @ T_fixed
             T_fixed = np.eye(4)
             rotations.append(T[:3, :3])
             offsets.append(T[:3, 3])
-            types.append('revolute')
-        elif joint.type == 'prismatic':
+            types.append("revolute")
+        elif joint.type == "prismatic":
             # TODO: need to add joint limits?
             T = get_transform(joint) @ T_fixed
             T_fixed = np.eye(4)
             rotations.append(T[:3, :3])
             offsets.append(T[:3, 3])
-            types.append('prismatic')
+            types.append("prismatic")
         else:
             raise Exception(f"joint type {joint.type} in URDF not supported")
 
     # truncate near zero values
-    offsets = [val * (np.abs(val) > 1E-5) for val in offsets]
-    rotations = [val * (np.abs(val) > 1E-5) for val in rotations]
+    offsets = [val * (np.abs(val) > 1e-5) for val in offsets]
+    rotations = [val * (np.abs(val) > 1e-5) for val in rotations]
 
-    with open(args.fk_template, 'r') as f:
+    with open(args.fk_template, "r") as f:
         j2_template = Template(f.read())
-        code = j2_template.render({'rotations': rotations, 'offsets': offsets, 'types': types}, trim_blocks=True)
+        code = j2_template.render(
+            {"rotations": rotations, "offsets": offsets, "types": types},
+            trim_blocks=True,
+        )
 
-    with open(args.fk_output_file, 'w') as f:
+    with open(args.fk_output_file, "w") as f:
         f.write(code)
 
     print(f"FAST_FK_NUMBER_OF_JOINTS={len(types)}", end="")

diff --git a/fast_forward_kinematics-config.cmake.in b/fast_forward_kinematics-config.cmake.in
@@ -8,4 +8,4 @@ set(fast_forward_kinematics_FOUND ON)
 set_and_check(fast_forward_kinematics_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
 
 include("${CMAKE_CURRENT_LIST_DIR}/fast_forward_kinematics-targets.cmake")
-include("${CMAKE_CURRENT_LIST_DIR}/cmake/fast_forward_kinematics.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/cmake/fast_forward_kinematics.cmake")
-Original file line number
+Diff line change
@@ Expand Up / @@ -362,4 +362,4 @@ namespace fast_fk::internal { @@
         }
     }
-    #endif
+    #endif