Enforce clang format (#599) (#601)

* Apply clangformat

* Add test sources

* Test pep8

* Fix workflow

* Fix workflow

* Fix script

* pep8 fixes

* Cpp fixes

* Remove ament pep257 & flake8

* Update urdf2webots submodule

* Revert "Update urdf2webots submodule"

This reverts commit fa45543.

* Revert "Remove ament pep257 & flake8"

This reverts commit 92df8a3.

* Revert "Cpp fixes"

This reverts commit c3a497c.

* Revert "pep8 fixes"

This reverts commit 141b0c8.

* Revert "Revert "pep8 fixes""

This reverts commit ad007a4.

* Test

* Revert "Test"

This reverts commit 25934ef.

* Revert "Revert "Cpp fixes""

This reverts commit 8462d81.

* Revert "Revert "Remove ament pep257 & flake8""

This reverts commit c689352.

* Revert "Revert "Update urdf2webots submodule""

This reverts commit e2ed2b3.

* Order fixes

* Skip submodule tests

* Finalize

.clang-format

@@ -0,0 +1,88 @@
+---
+Language: Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignEscapedNewlines: Left
+AlignOperands: true
+AllowAllConstructorInitializersOnNextLine: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: InlineOnly
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: false
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: AfterColon
+BreakStringLiterals: true
+ColumnLimit: 128
+CommentPragmas: '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 2
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeCategories:
+  - Regex:    '^<.*\.h>'
+    Priority: 1
+  - Regex:    '^<.*'
+    Priority: 2
+  - Regex:    '.*'
+    Priority: 3
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentWidth: 2
+IndentWrappedFunctionNames: true
+JavaScriptQuotes: Single
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: All
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Right
+ReflowComments: true
+SortIncludes: true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInContainerLiterals: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp11
+TabWidth: 8
+UseTab: Never
+...

.github/ISSUE_TEMPLATE/bug_report.md

@@ -26,7 +26,7 @@ If applicable, add screenshots to help explain your problem.
 
 **System**
  - Webots Version: [e.g., R2019b, R2020a revision 1]
- - ROS Version: [e.g., Dashing, Eloquent] 
+ - ROS Version: [e.g., Dashing, Eloquent]
  - Operating System: [e.g., Windows 10, Linux Ubuntu 18.04, macOS Mojave]
  - Graphics Card: [e.g., NVIDIA GeForce RTX 2080 11 GB, AMD Radeon RX 580 8GB, etc.]
 

.github/workflows/tests_sources.yml

@@ -0,0 +1,45 @@
+name: Test Sources
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, labeled, unlabeled]
+    branches-ignore:
+      - 'released'
+  schedule:
+    - cron:  '0 22 * * *'
+
+defaults:
+  run:
+    shell: bash
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test-sources:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04]
+        python: ['3.10']
+        include:
+          - os: ubuntu-20.04
+            DEPENDENCIES_INSTALLATION: "sudo apt -y install clang-format-10 cppcheck"
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v3
+      if: github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      with:
+        submodules: true
+    - name: Set up Python 3.10
+      if: github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.10'
+    - name: Test Sources
+      if: github.event_name == 'schedule' || github.event.pull_request.draft == false || contains(github.event.pull_request.labels.*.name, 'test sources')
+      run: |
+        ${{ matrix.DEPENDENCIES_INSTALLATION }}
+        pip install -r tests/sources/requirements.txt
+        python3 -m unittest discover -s tests/sources/

tests/.gitignore

@@ -0,0 +1 @@
+/cppcheck_report.txt

tests/sources/requirements.txt

@@ -0,0 +1,3 @@
+pycodestyle
+pyflakes
+image

tests/sources/test_clang_format.py

@@ -0,0 +1,152 @@
+#!/usr/bin/env python
+
+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# 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.
+
+"""Test that the C, C++ and shader source code is compliant with ClangFormat."""
+import unittest
+
+import difflib
+import os
+import shutil
+import subprocess
+
+from io import open
+
+
+class TestClangFormat(unittest.TestCase):
+    """Unit test for ClangFormat compliance."""
+
+    def setUp(self):
+        """Set up called before each test."""
+        self.ROOT_FOLDER = os.path.dirname(os.path.dirname(os.path.dirname(__file__)))
+        print(self.ROOT_FOLDER)
+
+    def _runClangFormat(self, f):
+        """Run clang format on 'f' file."""
+        return subprocess.check_output(['clang-format', '-style=file', f])
+
+    def test_clang_format_is_correctly_installed(self):
+        """Test ClangFormat is correctly installed."""
+        self.assertTrue(
+            shutil.which('clang-format') is not None,
+            msg='ClangFormat is not installed on this computer.'
+        )
+        clangFormatConfigFile = os.path.join(self.ROOT_FOLDER, '.clang-format')
+        self.assertTrue(
+            os.path.exists(clangFormatConfigFile),
+            msg=clangFormatConfigFile + ' not found.'
+        )
+
+    def test_sources_are_clang_format_compliant(self):
+        """Test that sources are ClangFormat compliant."""
+        directories = [
+            'webots_ros2',
+            'webots_ros2_control',
+            'webots_ros2_driver',
+            'webots_ros2_epuck',
+            'webots_ros2_importer',
+            'webots_ros2_mavic',
+            'webots_ros2_msgs',
+            'webots_ros2_tesla',
+            'webots_ros2_tests',
+            'webots_ros2_tiago',
+            'webots_ros2_turtlebot',
+            'webots_ros2_universal_robot'
+        ]
+        skippedPaths = [
+            'webots_ros2_driver/webots/',
+            'webots_ros2_importer/webots_ros2_importer/urdf2webots/tests'
+        ]
+        skippedFiles = [
+        ]
+        skippedDirectories = [
+        ]
+        skippedPathsFull = [os.path.join(self.ROOT_FOLDER, os.path.normpath(path)) for path in skippedPaths]
+        skippedFilesFull = [os.path.join(self.ROOT_FOLDER, os.path.normpath(file)) for file in skippedFiles]
+
+        extensions = ['c', 'h', 'cpp', 'hpp', 'cc', 'hh', 'c++', 'h++', 'vert', 'frag']
+        modified_files = os.path.join(self.ROOT_FOLDER, 'tests', 'sources', 'modified_files.txt')
+        sources = []
+        if os.path.isfile(modified_files):
+            with open(modified_files, 'r') as file:
+                for line in file:
+                    line = line.strip()
+                    extension = os.path.splitext(line)[1][1:].lower()
+                    if extension not in extensions:
+                        continue
+                    found = False
+                    for directory in directories:
+                        if line.startswith(directory):
+                            found = True
+                            break
+                    if not found:
+                        continue
+                    found = False
+                    for directory in skippedPaths + skippedFiles:
+                        if line.startswith(directory):
+                            found = True
+                            break
+                    if found:
+                        continue
+                    for directory in skippedDirectories:
+                        currentDirectories = line.split(os.sep)
+                        if directory in currentDirectories:
+                            found = True
+                    if found:
+                        continue
+                    sources.append(os.path.normpath(line))
+        else:
+            for directory in directories:
+                path = os.path.join(self.ROOT_FOLDER, os.path.normpath(directory))
+                for rootPath, dirNames, fileNames in os.walk(path):
+                    shouldContinue = False
+                    for skippedPath in skippedPathsFull:
+                        if rootPath.startswith(skippedPath):
+                            shouldContinue = True
+                            break
+                    for directory in skippedDirectories:
+                        currentDirectories = rootPath.replace(self.ROOT_FOLDER + os.sep, '').split(os.sep)
+                        if directory in currentDirectories:
+                            shouldContinue = True
+                            break
+                    if shouldContinue:
+                        continue
+                    for fileName in fileNames:
+                        extension = os.path.splitext(fileName)[1][1:].lower()
+                        if extension not in extensions:
+                            continue
+                        path = os.path.normpath(os.path.join(rootPath, fileName))
+                        if path not in skippedFilesFull:
+                            sources.append(path)
+        curdir = os.getcwd()
+        os.chdir(self.ROOT_FOLDER)
+        for source in sources:
+            diff = ''
+            with open(source, encoding='utf8') as file:
+                try:
+                    for line in difflib.context_diff(self._runClangFormat(source).decode('utf-8').splitlines(),
+                                                     file.read().splitlines()):
+                        diff += line + '\n'
+                except UnicodeDecodeError:
+                    self.assertTrue(False, msg='utf-8 decode problem in %s' % source)
+                self.assertTrue(
+                    len(diff) == 0,
+                    msg='Source file "%s" is not compliant with ClangFormat:\n\nDIFF:%s' % (source, diff)
+                )
+        os.chdir(curdir)
+
+
+if __name__ == '__main__':
+    unittest.main()