chore: Eliminates many linter warnings

.clang-tidy

@@ -29,10 +29,7 @@ Checks: '-*,
         cppcoreguidelines-*,
         clang-analyzer-*,
         google-*,
-        -google-runtime-references,
-        -google-readability-todo,
         hicpp-*,
-        -hicpp-uppercase-literal-suffix,
         -hicpp-avoid-c-arrays,           # duplicates cppcoreguidelines-avoid-c-arrays,
         -hicpp-no-array-decay,           # duplicates cppcoreguidelines-pro-bounds-array-to-pointer-decay,
         -hicpp-special-member-functions, # duplicates cppcoreguidelines-special-member-functions,
@@ -44,13 +41,6 @@ Checks: '-*,
         performance-*,
         -performance-move-const-arg,     # duplicates hicpp-move-const-arg
         readability-*,
-        -readability-uppercase-literal-suffix,
-        -readability-simplify-boolean-expr,
-        -readability-magic-numbers,
-        -readability-function-cognitive-complexity,
-        -readability-redundant-access-specifiers,
-        -readability-identifier-length,
-        -readability-braces-around-statements
         '
 
 # Upgrade warnings to errors

docs/02_roadmap.md

@@ -1,94 +1,80 @@
 # Roadmap
 
-## Phase 1 - Base
+## Completed
 
-- :done: Versioning
-- :done: Exception definitions
-- :done: Command line flags parsing
-- :done: Logging library
-- :done: Scripting library
-- :done: Message passing
-- :done: Realtime services
+- Versioning
+- Exception definitions
+- Command line flags parsing
+- Logging library
+- Scripting library
+- Message passing
+- Realtime services
+- Serialization
 
-## Phase 2 - Multimodal data logging and visualisation - part 1
+## TODO
 
-- :done: Implement `probe::Controller`
-- :done: Implement `probe::Monitor` PoC
-- :done: Serialization
-
-## Phase 3 - grapecam
+### grapecam
 
 - Implement grape::app. ([README](../modules/common/app/README.md))
 - Implement [grapecam](https://github.com/cvilas/grapecam)
 
-## Phase 4 - Multimodel data logging and visualisation - part 2
-
-- Generic plotting api
-  - Requirements analysis
-  - Implement PoC with [Qt6 Graphs](https://doc.qt.io/qt-6/qtgraphs-index.html)
+### Plotting
+
+- Requirements analysis
+- Generic plotting API and `plottable`concept
+- Implement PoC with [Qt6 Graphs](https://doc.qt.io/qt-6/qtgraphs-index.html)
+
+### Generalise IPC API
+
+- Implement queryable/query API
+- Avoid copy in createDataCallback() by using SpliceIterator
+- Implement liveliness API
+- Implement shared memory API
+- Implement caching API
+- Define topics for matched example programs in a single place
+- Consider implementing pub-sub match callbacks
+- Implement PutOptions and subscriber Sample fields
+  - Support attachments
+  - Support timestamping
+  - Resolve how we can combine congestion control, priority and reliability settings in a coherent way to offer fewer choices at the user API layer?
+    - See [discord](https://discord.com/channels/914168414178779197/940584045287460885/1311629493445853206)
+  - Consider supporting sample kind (put/delete)
+- Understand the point of on_drop callback in subscriber and support it if necessary
+- Documentation cleanup: examples
+- Understand hybrid logical clocks
+- Support hybrid logical clocks implementation
 - Disk recording and playback for time-series multi-modal data ([README](../modules/common/recorder/README.md))
-
-## Phase 5 - Generalise IPC API
-
-- :done: Phase 1: Basic implementation of Session, Publisher, Subscriber
-- :done: Phase 2: router, client, throughput and latency examples
-- Phase 3
-  - Implement queryable/query API
-  - Avoid copy in createDataCallback() by using SpliceIterator
-  - Implement liveliness API
-  - Implement shared memory API
-  - Implement caching API
-  - Define topics for matched examples in a single place
-  - Raise MR
-- Phase 4
-  - Convert 'router' to a IPC application (hide zenoh internal details)
-  - Consider implementing match callbacks
-  - Implement PutOptions and subscriber Sample fields
-    - Support attachments
-    - Support timestamping
-    - Resolve how we can combine congestion control, priority and reliability settings in a coherent way to offer fewer choices at the user API layer?
-      - See [discord](https://discord.com/channels/914168414178779197/940584045287460885/1311629493445853206)
-    - Consider supporting sample kind (put/delete)
-  - Understand the point of on_drop callback in subscriber and support it if necessary
-  - Documentation cleanup
-  - Understand hybrid logical clocks
-  - Support hybrid logical clocks implementation
-  - Unit tests
-  - Lua utilities: hostname
 - Fix zenoh examples: pull, shm pub/sub
 - New zenoh examples: Router interceptors (downsampling), authentication, access control, serdes (ZBytes)
-- PoC IPC experiments
-  - Case 1: pub-peer on PC1, sub-peer on PC2, router on PC3, multicast scouting off. Confirm data transfer from PC1 to PC2, no data transfer through PC3.
-  - Case 2: pub-peer + router on PC1, sub-peer + router on PC2, router on PC3, multicast scouting off. Confirm data transfer from PC1 to PC2, no data transfer through PC3.
-  - Case 3: Extend case2 by adding a PC4 with router and sub-client. Confirm sub-client on PC4 receives data from pub-peer on PC1.
 
-## Phase 6 - Robotics core
+### Robotics core
 
+- HW IO
+  - CANopen
+  - joystick
+  - midi
 - Configure Raspberry Pi5 for [low latency](https://ubuntu.com/blog/real-time-kernel-tuning). Document it.
 - Study
   - [Robotics at compile time](https://youtu.be/Y6AUsB3RUhA)
-  - [reflect-cpp](https://github.com/getml/reflect-cpp)
+  - [cactus-rt](https://github.com/cactusdynamics/cactus-rt/) on ROS2 interop
 - Shared memory
 - Single producer multiple consumer queue using externally specified memory (heap or shared memory)
 - Consider removing `MPSCQueue`. It's unused. Rename `FIFOBuffer` to `MPSCQueue`
-- HW IO
-  - CANopen
-  - joystick
-  - midi
 - Math library
   - Delay line
   - Low pass filter
   - Differentiator
   - Integrator
   - Matrix operations
 - Behaviour trees: Consider building from first principles
-- FSM: introspectable, visualise state transition graph using graphviz.
+- FSM: introspectable, visualisable state transition graph using graphviz.
 - Introduce [RTSan](https://clang.llvm.org/docs/RealtimeSanitizer.html)
-- ROS2 interop
-  - Study how [cactus-rt](https://github.com/cactusdynamics/cactus-rt/) does it
-  - Propose a design
+- Refactor thread class out of realtime and put it in 'grape'
+  - Insert logging to capture timer overruns in the loop
+- `reinterpret_cast<uintptr_t>` from `const T*` and then modifying it later is undefined behaviour. Fix `probe::PinConfig::pin`. Consider `std::start_lifetime_as` instead.
+- replace `grape::realtime::SystemError` with `std::errc`
 
-## Phase 7 - 3D graphics
+### 3D visualisation
 
 - Study
   - [2D Game Engine](https://pikuma.com/courses/cpp-2d-game-engine-development)
@@ -106,63 +92,32 @@
     - Implement PoC using Qt3D. See [scratch](https://github.com/cvilas/scratch)/3dvis/qt
     - Implement a basic scenegraph example and check performance in MacOS and Linux
 
-## Phase 8 - Refactor
-
-- Support external dependencies on examples and tests that the main project does not depend on
-- Study [Quill](https://github.com/odygrd/quill) on how to reduce logging overhead
-- Refactor thread class out of realtime and put it in 'grape'
-  - Insert logging to capture timer overruns in the loop
-- `reinterpret_cast<uintptr_t>` from `const T*` and then modifying it later is undefined behaviour. Fix `probe::PinConfig::pin`. Consider `std::start_lifetime_as` instead.
-- replace `grape::realtime::SystemError` with `std::errc`
-
-## Phase 9 - CI
+### CI and build robustness
 
+- Fix GCC builds
+  - `std::expected` not available with -DENABLE_LINTER=ON
+  - sccache breaks build with -DENABLE_CACHE=ON
 - Setup configuration presets for developer and CI builds
   - Incorporate lessons from https://youtu.be/UI_QayAb9U0
   - Fail the CI if clang-format changes code
   - Add configuration presets to CMakePresets.json
   - Develop github CI build file
   - Document the usage in install instructions
 - Implement CI build using github workflow  
-- Integrate cpack to generate artifacts 
+- Integrate cpack to generate artifacts
 - Integrate [ninjatracing](https://github.com/nico/ninjatracing)
-- Review all negated checks in `.clang-tidy`
 
-## Phase 10 - Demo applications
+### Demo applications
 
 - Office environment (CO2, temperature, light) dashboard
-- Network camera and viewer for industrial monitoring, diagnostics
+- Network camera and viewer for industrial monitoring
 - Zenoh interop with C++ publisher and Python subscriber, demonstrating data serialisation/deserialisation
+- Improvements to `probe::Monitor` (See TODO in [README](../modules/probe/monitor/README.md))
 - [MuJoCoPy Bootcamp](https://pab47.github.io/mujocopy.html) LQR sim from lesson 13, demonstrating integration of MujoCo, plotting and control
 - [Rover](https://github.com/nasa-jpl/open-source-rover) demonstrating joystick teleop, FPV and mission control
-
-## Phase 11 - Utilities
-
-- utility: hostaddress, isportinuse, execute, flag_set
-- file cache
-- md5sum
-- factory using crtp (see scratch)
-
-## Others
-
 - Implement advanced streaming
   - Choose backend for audio/video device handling and stream processing
   - Implement AV streaming server and client
-- External deps: Replace git clone with direct download of tarballs
-- Improvements to `probe::Monitor` (See TODO in [README](../modules/probe/monitor/README.md))
-
-## Notes
-
-- Use C++23 or newer features in development
-
-```c++
-// hello world in C++23
-import std;
-auto main() -> int {
-  std::println("Hello World!");
-  return EXIT_SUCCESS;
-}
-```
 
 ## References
 
@@ -172,4 +127,3 @@ auto main() -> int {
 - Practical [C++26 Reflection](https://youtu.be/cqQ7v6xdZRw)
 - Interfaces with C++20 concept: <https://concepts.godbolt.org/z/PjGb466cr>
 - Clean code: <https://youtu.be/9ch7tZN4jeI>
-- IoC containers for dependency injection, especially for mocking in tests: <https://github.com/ybainier/Hypodermic>. For why we should use it, see `clean code` video above

modules/common/base/src/exception.cpp

@@ -25,7 +25,7 @@ void Exception::print() noexcept {
                           loc.function_name(),                             //
                           static_cast<int>(loc_fname.length()), loc_fname.data(), loc.line());
     std::ignore = fprintf(stderr, "\nBacktrace:");
-    auto i = 0u;
+    auto i = 0U;
     for (const auto& s : ex.trace().trace()) {
       std::ignore = fprintf(stderr, "\n#%u: %s", i++, s.c_str());
     }

modules/common/ipc/examples/liveliness_get.cpp

@@ -41,7 +41,7 @@ auto main(int argc, const char* argv[]) -> int {
 
     const auto key = args.getOptionOrThrow<std::string>("key");
     std::println("Sending liveliness query for '{}'...", key);
-    static constexpr auto FIFO_LENGTH = 16u;
+    static constexpr auto FIFO_LENGTH = 16U;
     auto replies = session.liveliness_get(key, zenoh::channels::FifoChannel(FIFO_LENGTH));
 
     for (auto res = replies.recv(); std::holds_alternative<zenoh::Reply>(res);

modules/common/ipc/examples/pub_shm.cpp

@@ -44,7 +44,7 @@ auto main(int argc, const char* argv[]) -> int {
     auto config = zenoh::Config::create_default();
 
     //-----------------------------------------
-    // TODO: Review and confirm shared memory configuration is correct
+    // TODO(vilas): Review and confirm shared memory configuration is correct
     //-----------------------------------------
 
     // Enable the publisher to operate over shared-memory. Note that shared-memory should also be
@@ -67,8 +67,8 @@ auto main(int argc, const char* argv[]) -> int {
     auto pub = session.declare_publisher(key);
 
     std::println("Creating shared-memory manager...");
-    static constexpr auto SHM_SIZE = 65536u;
-    static constexpr auto SHM_ALIGN = 2u;
+    static constexpr auto SHM_SIZE = 65536U;
+    static constexpr auto SHM_ALIGN = 2U;
     auto shm_provider = zenoh::PosixShmProvider(
         zenoh::MemoryLayout(SHM_SIZE, zenoh::AllocAlignment({ SHM_ALIGN })));
 

modules/common/ipc/examples/sub_shm.cpp

@@ -41,7 +41,7 @@ auto main(int argc, const char* argv[]) -> int {
     auto config = zenoh::Config::create_default();
 
     //-----------------------------------------
-    // TODO: Review and confirm shared memory configuration is correct
+    // TODO(vilas): Review and confirm shared memory configuration is correct
     //-----------------------------------------
 
     // Enable shared-memory on the subscriber to take advantage of publishers on the same host who

modules/common/ipc/include/grape/ipc/common.h

@@ -39,7 +39,7 @@ struct [[nodiscard]] Locator {
 //=================================================================================================
 /// Unique identifier
 struct [[nodiscard]] UUID {
-  static constexpr auto LENGTH = 16u;
+  static constexpr auto LENGTH = 16U;
   std::array<std::uint8_t, LENGTH> bytes;
 };
 

modules/common/ipc/src/session.cpp

@@ -20,7 +20,7 @@ auto transform(const grape::ipc::Session::Config& config) -> zenoh::Config {
   if (is_router_specified) {
     zconfig.insert_json5(Z_CONFIG_CONNECT_KEY, std::format(R"(["{}"])", toString(*config.router)));
   }
-  // TODO:
+  // TODO(vilas):
   //- enable timestamp (optional)
   //- enable cache history (optional)
   //- enable shared memory (optional)
@@ -46,7 +46,7 @@ auto createDataCallback(grape::ipc::DataCallback&& user_cb)
     return nullptr;
   }
   return [cb = std::move(user_cb)](const zenoh::Sample& sample) -> void {
-    // TODO: Avoid copy. use SpliceIterator instead
+    // TODO(vilas): Avoid copy. use SpliceIterator instead
     const auto data = sample.get_payload().as_vector();
     // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast)
     cb({ reinterpret_cast<const std::byte*>(data.data()), data.size() });

modules/common/log/include/grape/log/config.h

@@ -12,7 +12,7 @@ namespace grape::log {
 
 /// @brief  Logger configuration
 struct Config {
-  static constexpr auto DEFAULT_QUEUE_CAPACITY = 1000u;
+  static constexpr auto DEFAULT_QUEUE_CAPACITY = 1000U;
   static constexpr auto DEFAULT_FLUSH_PERIOD = std::chrono::microseconds(1000);
   using Sink = std::function<void(const Record& r)>;
 

modules/common/log/tests/tests.cpp

@@ -14,7 +14,7 @@ namespace {
 
 TEST_CASE("Basic logging api works", "[log]") {
   std::string stream;
-  static constexpr auto QUEUE_CAPACITY = 10u;
+  static constexpr auto QUEUE_CAPACITY = 10U;
 
   auto config = grape::log::Config();
   config.threshold = grape::log::Severity::Debug;
@@ -26,7 +26,7 @@ TEST_CASE("Basic logging api works", "[log]") {
   auto logger = grape::log::Logger(std::move(config));
 
   /// Explicitly specify variadic template arguments types list
-  grape::log::Log<int, float>(logger, grape::log::Severity::Info, "{} {}", 5, 3.14f,
+  grape::log::Log<int, float>(logger, grape::log::Severity::Info, "{} {}", 5, 3.14F,
                               std::source_location::current());
 
   /// Use the deduction guide for arguments with defaulted source location
@@ -36,7 +36,7 @@ TEST_CASE("Basic logging api works", "[log]") {
 //-------------------------------------------------------------------------------------------------
 TEST_CASE("Custom sink and threshold settings are respected", "[log]") {
   std::string stream;
-  static constexpr auto QUEUE_CAPACITY = 10u;
+  static constexpr auto QUEUE_CAPACITY = 10U;
 
   auto config = grape::log::Config();
   config.threshold = grape::log::Severity::Note;
@@ -60,7 +60,7 @@ TEST_CASE("Queue capacity and flush period are respected", "[log]") {
   using namespace std::chrono_literals;
   static constexpr auto FLUSH_PERIOD = 1s;
   static constexpr auto FLUSH_WAIT_PERIOD = FLUSH_PERIOD + 500ms;
-  static constexpr auto QUEUE_CAPACITY = 5u;
+  static constexpr auto QUEUE_CAPACITY = 5U;
   std::atomic_size_t num_logs{ 0 };
   auto config = grape::log::Config();
   config.threshold = grape::log::Severity::Debug;

modules/common/realtime/examples/schedule_example.cpp

@@ -11,7 +11,7 @@
 //=================================================================================================
 auto main() -> int {
   try {
-    static constexpr auto CPUS = { 1u, 2u, 3u };
+    static constexpr auto CPUS = { 1U, 2U, 3U };
 
     // Set CPU affinity
     const auto is_cpu_set = grape::realtime::setCpuAffinity(CPUS);

modules/common/realtime/examples/thread_example.cpp

@@ -70,8 +70,8 @@ auto main() -> int {
 
     // Define CPU cores to allocate to non-rt and rt threads. Ideally these should be
     // non-intersecting sets.
-    static constexpr auto CPUS_RT = { 0u };
-    static constexpr auto CPUS_NON_RT = { 1u, 2u, 3u };
+    static constexpr auto CPUS_RT = { 0U };
+    static constexpr auto CPUS_NON_RT = { 1U, 2U, 3U };
 
     // Set main thread CPU affinity here. Will assign rt thread CPU affinity in task setup().
     const auto is_main_cpu_set = grape::realtime::setCpuAffinity(CPUS_NON_RT);

modules/common/realtime/include/grape/realtime/mpsc_queue.h

@@ -49,7 +49,7 @@ class MPSCQueue {
 
 //-------------------------------------------------------------------------------------------------
 template <typename T>
-MPSCQueue<T>::MPSCQueue(std::size_t capacity) : items_((capacity > 0 ? capacity : 1u)) {
+MPSCQueue<T>::MPSCQueue(std::size_t capacity) : items_((capacity > 0 ? capacity : 1U)) {
 }
 
 //-------------------------------------------------------------------------------------------------