Add code style checks (#331)

Author: jaagut

.clang-format

@@ -0,0 +1,4 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+ColumnLimit: 120

.git-blame-ignore-revs

@@ -0,0 +1,2 @@
+# Add pre-commit auto formatting
+31956156a6cab20c1f54f976dac745d95a1254c0

.github/workflows/pre-commit.yml

@@ -0,0 +1,16 @@
+name: Code style checks
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v4
+      - name: Install cppcheck
+        run: sudo apt install cppcheck -y
+      - uses: pre-commit/action@v3.0.0

.pre-commit-config.yaml

@@ -0,0 +1,23 @@
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.1.6
+  hooks:
+    - id: ruff
+      args:
+        - "--fix"
+        - "--exit-non-zero-on-fix"
+- repo: https://github.com/psf/black
+  rev: 23.11.0
+  hooks:
+    - id: black
+- repo: https://github.com/pocc/pre-commit-hooks
+  rev: v1.3.5
+  hooks:
+    - id: clang-format
+      args:
+        - "-i"
+    - id: cppcheck
+      args:
+        - "--suppress=missingInclude"
+        - "--suppress=unmatchedSuppression"
+        - "--suppress=unusedFunction"

bitbots_blackboard/bitbots_blackboard/blackboard.py

@@ -1,14 +1,15 @@
+import tf2_ros as tf2
+from bitbots_utils.utils import get_parameter_dict
+from rclpy.node import Node
+
 from bitbots_blackboard.capsules.animation_capsule import AnimationCapsule
-from bitbots_blackboard.capsules.misc_capsule import MiscCapsule
+from bitbots_blackboard.capsules.costmap_capsule import CostmapCapsule
 from bitbots_blackboard.capsules.game_status_capsule import GameStatusCapsule
 from bitbots_blackboard.capsules.kick_capsule import KickCapsule
+from bitbots_blackboard.capsules.misc_capsule import MiscCapsule
 from bitbots_blackboard.capsules.pathfinding_capsule import PathfindingCapsule
 from bitbots_blackboard.capsules.team_data_capsule import TeamDataCapsule
 from bitbots_blackboard.capsules.world_model_capsule import WorldModelCapsule
-from bitbots_blackboard.capsules.costmap_capsule import CostmapCapsule
-from bitbots_utils.utils import get_parameter_dict
-from rclpy.node import Node
-import tf2_ros as tf2
 
 
 class BodyBlackboard:

bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py

@@ -4,13 +4,12 @@
 
 Communicates with the animation action server and plays predefined animations.
 """
+from bitbots_msgs.action import Dynup, LookAt, PlayAnimation
 from rclpy.action import ActionClient
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.duration import Duration
 from rclpy.node import Node
 
-from bitbots_msgs.action import Dynup, LookAt, PlayAnimation
-
 
 class AnimationCapsule:
     def __init__(self, node: Node):
@@ -25,17 +24,9 @@ def __init__(self, node: Node):
         self.cheering_animation: str = self.node.get_parameter("Animations.Misc.cheering").value
         self.init_animation: str = self.node.get_parameter("Animations.Misc.init").value
 
-        self.animation_client = ActionClient(
-            node,
-            PlayAnimation,
-            'animation',
-            callback_group=ReentrantCallbackGroup())
+        self.animation_client = ActionClient(node, PlayAnimation, "animation", callback_group=ReentrantCallbackGroup())
 
-        self.dynup_action_client = ActionClient(
-            node,
-            Dynup,
-            "dynup",
-            callback_group=ReentrantCallbackGroup())
+        self.dynup_action_client = ActionClient(node, Dynup, "dynup", callback_group=ReentrantCallbackGroup())
 
         self.lookat_action_client = ActionClient(node, LookAt, "look_at_goal")
 
@@ -56,15 +47,16 @@ def play_animation(self, animation: str, from_hcm: bool) -> bool:
 
         if not self.animation_client.wait_for_server(Duration(seconds=10)):
             self.node.get_logger().error(
-                "Animation Action Server not running! Motion can not work without animation action server.")
+                "Animation Action Server not running! Motion can not work without animation action server."
+            )
             return False
 
         goal = PlayAnimation.Goal()
         goal.animation = animation
         goal.hcm = from_hcm  # the animation is from the hcm
         self.animation_client.send_goal_async(goal).add_done_callback(
-            lambda future: future.result().get_result_async().add_done_callback(
-                lambda _: self.__done_cb()))
+            lambda future: future.result().get_result_async().add_done_callback(lambda _: self.__done_cb())
+        )
 
         self.active = True