Adjusted the generation of cpp templates to be valid cpp (StoglRoboti…

…cs#41) * change templates to valid cpp * adjust cpplint to check templates * add real license Co-authored-by: Denis Štogl <[email protected]>
Robotgir · Apr 8, 2022 · 06f8060 · 06f8060
1 parent 2a84136
commit 06f8060
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diff --git a/.github/workflows/ci-lint.yml b/.github/workflows/ci-lint.yml
@@ -10,13 +10,11 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        linter: [cppcheck, lint_cmake]
+        linter: [cppcheck, cpplint, lint_cmake]
         arguments: [""]
         include:
           - linter: copyright
-            arguments: "--exclude CONTRIBUTING.md conf.py test_robot_description.launch.py view_robot.launch.py controller.cpp controller.hpp test_controller.cpp test_controller.hpp test_load_controller.cpp robot_hardware_interface.cpp robot_hardware_interface.hpp test_robot_hardware_interface.cpp visibility_control.h robot_ros2_control.launch.py test_forward_position_controller.launch.py test_joint_trajectory_controller.launch.py"
-          - linter: cpplint
-            arguments: "--exclude ./templates/ros2_control/controller/controller.cpp ./templates/ros2_control/controller/controller.hpp ./templates/ros2_control/controller/test_controller.cpp ./templates/ros2_control/controller/test_controller.hpp ./templates/ros2_control/controller/test_load_controller.cpp ./templates/ros2_control/controller/test_load_controller.hpp ./templates/ros2_control/hardware/robot_hardware_interface.cpp ./templates/ros2_control/hardware/robot_hardware_interface.hpp ./templates/ros2_control/hardware/visibility_control.cpp ./templates/ros2_control/hardware/test_robot_hardware_interface.cpp ./templates/ros2_control/hardware/visibility_control.h"
+            arguments: "--exclude conf.py test_robot_description.launch.py view_robot.launch.py robot_ros2_control.launch.py test_forward_position_controller.launch.py test_joint_trajectory_controller.launch.py"
     steps:
     - uses: actions/checkout@v2
     - uses: ros-tooling/setup-ros@master

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -50,13 +50,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v2.31.0
+    rev: v2.31.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 21.12b0
+    rev: 22.3.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -127,11 +127,11 @@ repos:
         stages: [commit]
         entry: ament_copyright
         language: system
-        exclude: ^(templates/)
+        exclude: ^(templates/)|docs/conf.py
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: 0.10.1
+    rev: 0.11.0
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -50,7 +50,9 @@ 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,
@@ -61,8 +63,6 @@ Any contribution that you make to this repository will be under the Apache 2 Lic
    the terms of any separate license agreement you may have executed
    with Licensor regarding such Contributions.
 ~~~
-
 [issues]: https://github.com/StoglRobotics/ros_team_workspace/issues
 [closed-issues]: https://github.com/StoglRobotics/ros_team_workspace/issues?utf8=%E2%9C%93&q=is%3Aissue%20is%3Aclosed%20
 [help-wanted]: https://github.com/StoglRobotics/ros_team_workspace/issues?q=is%3Aopen+is%3Aissue+label%3A%22help+wanted%22
-[license]: http://www.apache.org/licenses/LICENSE-2.0.html
diff --git a/scripts/ros2_control/setup-controller-package.bash b/scripts/ros2_control/setup-controller-package.bash
@@ -48,7 +48,7 @@ fi
 
 PKG_NAME=$3
 if [ -z "$3" ]; then
-  current=`pwd`
+  current=$(pwd)
   PKG_NAME=$(basename "$current")
   echo "Package name guessed from the current path is '$PKG_NAME'. Is this correct? If not provide it as the third parameter."
 fi
@@ -63,7 +63,7 @@ choice=${choice:="1"}
 if [ "$choice" != 0 ]; then
   read -p "Insert your company or personal name (copyright): " NAME_ON_LICENSE
   NAME_ON_LICENSE=${NAME_ON_LICENSE=""}
-  YEAR_ON_LICENSE=`date +%Y`
+  YEAR_ON_LICENSE=$(date +%Y)
 fi
 
 LICENSE_HEADER=""
@@ -103,12 +103,12 @@ TEST_HPP="test/test_$FILE_NAME.hpp"
 if [[ ! -f "$VC_H" ]]; then
   cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/visibility_control.h $VC_H
 fi
-cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/controller_pluginlib.xml >> $PLUGIN_XML
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/controller.hpp $CTRL_HPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/controller.cpp $CTRL_CPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_load_controller.cpp $LOAD_TEST_CPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_controller.cpp $TEST_CPP
-cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_controller.hpp $TEST_HPP
+cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_pluginlib.xml >> $PLUGIN_XML
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/dummy_controller.hpp $CTRL_HPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller.cpp $CTRL_CPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_load_dummy_controller.cpp $LOAD_TEST_CPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.cpp $TEST_CPP
+cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.hpp $TEST_HPP
 
 echo "Template files copied."
 
@@ -124,8 +124,7 @@ if [[ "$LICENSE_HEADER" != "" ]]; then
   touch $TMP_FILE
   for FILE_TO_LIC in "${FILES_TO_LICENSE[@]}"; do
     cat $LICENSE_HEADER > $TMP_FILE
-    cat $FILE_TO_LIC >> $TMP_FILE
-    sed -i "/\\\$LICENSE\\\$/d" $TMP_FILE
+    sed "1,13d" $FILE_TO_LIC >> $TMP_FILE # delete first 13 lines which correspond to fake license
     mv $TMP_FILE $FILE_TO_LIC
     sed -i "s/\\\$YEAR\\\$/${YEAR_ON_LICENSE}/g" $FILE_TO_LIC
     sed -i "s/\\\$NAME_ON_LICENSE\\\$/${NAME_ON_LICENSE}/g" $FILE_TO_LIC
@@ -139,13 +138,15 @@ FILES_TO_SED+=("$PLUGIN_XML")
 # declare -p FILES_TO_SED
 
 for SED_FILE in "${FILES_TO_SED[@]}"; do
-  sed -i "s/\\\$PACKAGE_NAME\\\$/${PKG_NAME^^}/g" $SED_FILE
-  sed -i "s/\\\$package_name\\\$/${PKG_NAME}/g" $SED_FILE
-  sed -i "s/\\\$file_name\\\$/${FILE_NAME}/g" $SED_FILE
-  sed -i "s/\\\$FILE_NAME\\\$/${FILE_NAME^^}/g" $SED_FILE
-  sed -i "s/\\\$ClassName\\\$/${CLASS_NAME}/g" $SED_FILE
-  sed -i "s/\\\$interface_type\\\$/${INTERFACE_TYPE}/g" $SED_FILE
-  sed -i "s/\\\$Interface_Type\\\$/${INTERFACE_TYPE^}/g" $SED_FILE
+  sed -i "s/TEMPLATES__ROS2_CONTROL__CONTROLLER__DUMMY_PACKAGE_NAMESPACE/${PKG_NAME^^}/g" $SED_FILE # package name for include guard
+  sed -i "s/TEMPLATES__ROS2_CONTROL__CONTROLLER/${PKG_NAME^^}/g" $SED_FILE # package name for include guard
+  sed -i "s/TEMPLATES__ROS2_CONTROL__HARDWARE/${PKG_NAME^^}/g" $SED_FILE # package name for include guard from hardware
+  sed -i "s/dummy_package_namespace/${PKG_NAME}/g" $SED_FILE # package name for includes
+  sed -i "s/dummy_controller/${FILE_NAME}/g" $SED_FILE # file name
+  sed -i "s/DUMMY_CONTROLLER/${FILE_NAME^^}/g" $SED_FILE # file name for include guard
+  sed -i "s/DummyClassName/${CLASS_NAME}/g" $SED_FILE # class name
+  sed -i "s/dummy_interface_type/${INTERFACE_TYPE}/g" $SED_FILE # interface type for includes
+  sed -i "s/Dummy_Interface_Type/${INTERFACE_TYPE^}/g" $SED_FILE # Interface type in namespace resolution
 done
 
 
@@ -173,9 +174,8 @@ echo ")" >> $TMP_FILE
 
 echo "target_include_directories(" >> $TMP_FILE
 echo "  $FILE_NAME" >> $TMP_FILE
-echo "  PUBLIC" >> $TMP_FILE
-echo "  $<BUILD_INTERFACE:\${CMAKE_CURRENT_SOURCE_DIR}/include>" >> $TMP_FILE
-echo "  $<INSTALL_INTERFACE:include>" >> $TMP_FILE
+echo "  PRIVATE" >> $TMP_FILE
+echo "  include" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 # TODO(anyone): Add this dependencies in a loop
@@ -190,10 +190,6 @@ echo "  rclcpp_lifecycle" >> $TMP_FILE
 echo "  realtime_tools" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
-# TODO(anyone): Delete after Foxy!!!
-echo "# prevent pluginlib from using boost" >> $TMP_FILE
-echo "target_compile_definitions($FILE_NAME PUBLIC \"PLUGINLIB__DISABLE_BOOST_FUNCTIONS\")" >> $TMP_FILE
-
 if [[ "$package_configured" == "no" ]]; then
 
   echo "" >> $TMP_FILE

diff --git a/scripts/ros2_control/setup-hardware-interface-package.bash b/scripts/ros2_control/setup-hardware-interface-package.bash
@@ -112,7 +112,7 @@ TEST_CPP="test/test_$FILE_NAME.cpp"
 
 # Copy files
 cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/visibility_control.h $VC_H
-cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/robot_hardware_interface.hpp $HW_ITF_HPP
+cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/dummy_package_namespace/robot_hardware_interface.hpp $HW_ITF_HPP
 cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/robot_hardware_interface.cpp $HW_ITF_CPP
 cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/robot_pluginlib.xml $PLUGIN_XML
 cp -n $ROS2_CONTROL_HW_ITF_TEMPLATES/test_robot_hardware_interface.cpp $TEST_CPP
@@ -130,8 +130,7 @@ if [[ "$LICENSE_HEADER" != "" ]]; then
   touch $TMP_FILE
   for FILE_TO_LIC in "${FILES_TO_LICENSE[@]}"; do
     cat $LICENSE_HEADER > $TMP_FILE
-    cat $FILE_TO_LIC >> $TMP_FILE
-    sed -i "/\\\$LICENSE\\\$/d" $TMP_FILE
+    sed "1,13d" $FILE_TO_LIC >> $TMP_FILE # delete first 13 lines which correspond to fake license
     mv $TMP_FILE $FILE_TO_LIC
     sed -i "s/\\\$YEAR\\\$/${YEAR_ON_LICENSE}/g" $FILE_TO_LIC
     sed -i "s/\\\$NAME_ON_LICENSE\\\$/${NAME_ON_LICENSE}/g" $FILE_TO_LIC
@@ -149,13 +148,13 @@ FILES_TO_SED+=("$PLUGIN_XML")
 # declare -p FILES_TO_SED
 
 for SED_FILE in "${FILES_TO_SED[@]}"; do
-  sed -i "s/\\\$PACKAGE_NAME\\\$/${PKG_NAME^^}/g" $SED_FILE
-  sed -i "s/\\\$package_name\\\$/${PKG_NAME}/g" $SED_FILE
-  sed -i "s/\\\$file_name\\\$/${FILE_NAME}/g" $SED_FILE
-  sed -i "s/\\\$FILE_NAME\\\$/${FILE_NAME^^}/g" $SED_FILE
-  sed -i "s/\\\$ClassName\\\$/${CLASS_NAME}/g" $SED_FILE
-  sed -i "s/\\\$interface_type\\\$/${INTERFACE_TYPE}/g" $SED_FILE
-  sed -i "s/\\\$Interface_Type\\\$/${INTERFACE_TYPE^}/g" $SED_FILE
+  sed -i "s/TEMPLATES__ROS2_CONTROL__HARDWARE__DUMMY_PACKAGE_NAMESPACE/${PKG_NAME^^}/g" $SED_FILE # package name for include guard
+  sed -i "s/dummy_package_namespace/${PKG_NAME}/g" $SED_FILE # package name for includes
+  sed -i "s/dummy_file_name/${FILE_NAME}/g" $SED_FILE # file name
+  sed -i "s/ROBOT_HARDWARE_INTERFACE/${FILE_NAME^^}/g" $SED_FILE # file name for include guard
+  sed -i "s/DummyClassName/${CLASS_NAME}/g" $SED_FILE # class name
+  sed -i "s/dummy_interface_type/${INTERFACE_TYPE}/g" $SED_FILE # interface type for includes
+  sed -i "s/Dummy_Interface_Type/${INTERFACE_TYPE^}/g" $SED_FILE # Interface type in namespace resolution
 done
 
 # If type is "sensor" remove write and command_interfaces methods

diff --git a/templates/ros2_control/controller/controller_pluginlib.xml b/templates/ros2_control/controller/controller_pluginlib.xml
diff --git a/...es/ros2_control/controller/controller.cpp → ...2_control/controller/dummy_controller.cpp b/...es/ros2_control/controller/controller.cpp → ...2_control/controller/dummy_controller.cpp
@@ -1,6 +1,18 @@
-$LICENSE$
-
-#include "$package_name$/$file_name$.hpp"
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// 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.
+
+#include "dummy_package_namespace/dummy_controller.hpp"
 
 #include <limits>
 #include <memory>
@@ -9,11 +21,11 @@
 
 #include "controller_interface/helpers.hpp"
 
-namespace $package_name$
+namespace dummy_package_namespace
 {
-$ClassName$::$ClassName$() : controller_interface::ControllerInterface() {}
+DummyClassName::DummyClassName() : controller_interface::ControllerInterface() {}
 
-CallbackReturn $ClassName$::on_init()
+CallbackReturn DummyClassName::on_init()
 {
   try {
     get_node()->declare_parameter<std::vector<std::string>>("joints", std::vector<std::string>({}));
@@ -26,7 +38,7 @@ CallbackReturn $ClassName$::on_init()
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn $ClassName$::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
+CallbackReturn DummyClassName::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   auto error_if_empty = [&](const auto & parameter, const char * parameter_name) {
     if (parameter.empty()) {
@@ -82,7 +94,7 @@ CallbackReturn $ClassName$::on_configure(const rclcpp_lifecycle::State & /*previ
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::InterfaceConfiguration $ClassName$::command_interface_configuration() const
+controller_interface::InterfaceConfiguration DummyClassName::command_interface_configuration() const
 {
   controller_interface::InterfaceConfiguration command_interfaces_config;
   command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
@@ -95,7 +107,7 @@ controller_interface::InterfaceConfiguration $ClassName$::command_interface_conf
   return command_interfaces_config;
 }
 
-controller_interface::InterfaceConfiguration $ClassName$::state_interface_configuration() const
+controller_interface::InterfaceConfiguration DummyClassName::state_interface_configuration() const
 {
   controller_interface::InterfaceConfiguration state_interfaces_config;
   state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
@@ -108,29 +120,7 @@ controller_interface::InterfaceConfiguration $ClassName$::state_interface_config
   return state_interfaces_config;
 }
 
-// Fill ordered_interfaces with references to the matching interfaces
-// in the same order as in joint_names
-// TODO(anyone): use the method from controller_interface/helpers.hpp when ros2_contol#370
-// is merged
-template <typename T>
-bool get_ordered_interfaces(
-  std::vector<T> & unordered_interfaces, const std::vector<std::string> & joint_names,
-  const std::string & interface_type, std::vector<std::reference_wrapper<T>> & ordered_interfaces)
-{
-  for (const auto & joint_name : joint_names) {
-    for (auto & command_interface : unordered_interfaces) {
-      if (
-        (command_interface.get_name() == joint_name) &&
-        (command_interface.get_interface_name() == interface_type)) {
-        ordered_interfaces.push_back(std::ref(command_interface));
-      }
-    }
-  }
-
-  return joint_names.size() == ordered_interfaces.size();
-}
-
-CallbackReturn $ClassName$::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
+CallbackReturn DummyClassName::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // Set default value in command
   std::shared_ptr<ControllerCommandMsg> msg = std::make_shared<ControllerCommandMsg>();
@@ -141,12 +131,12 @@ CallbackReturn $ClassName$::on_activate(const rclcpp_lifecycle::State & /*previo
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn $ClassName$::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
+CallbackReturn DummyClassName::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type $ClassName$::update(
+controller_interface::return_type DummyClassName::update(
   const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   auto current_command = input_command_.readFromRT();
@@ -167,8 +157,9 @@ controller_interface::return_type $ClassName$::update(
   return controller_interface::return_type::OK;
 }
 
-}  // namespace $package_name$
+}  // namespace dummy_package_namespace
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS($package_name$::$ClassName$, controller_interface::ControllerInterface)
+PLUGINLIB_EXPORT_CLASS(
+  dummy_package_namespace::DummyClassName, controller_interface::ControllerInterface)
diff --git a/templates/ros2_control/controller/dummy_controller_pluginlib.xml b/templates/ros2_control/controller/dummy_controller_pluginlib.xml
@@ -0,0 +1,8 @@
+<library path="dummy_package_namespace">
+  <class name="dummy_package_namespace/DummyClassName"
+         type="dummy_package_namespace::DummyClassName" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    DummyClassName ros2_control controller.
+  </description>
+  </class>
+</library>