fix: apply CI fixes

.clang-format

@@ -6,12 +6,15 @@ AlignAfterOpenBracket: AlwaysBreak
 AllowShortFunctionsOnASingleLine: All
 BinPackArguments: false
 BreakBeforeBraces: Attach
-BreakConstructorInitializers: BeforeComma
+BreakBeforeBinaryOperators: NonAssignment
+BreakConstructorInitializers: AfterColon
 ColumnLimit: 100
 CompactNamespaces: false
 IndentWidth: 4
 NamespaceIndentation: None
+DerivePointerAlignment: false
 PointerAlignment: Left
+QualifierAlignment: Left
 SortIncludes: false
 SpaceAfterTemplateKeyword: false
 SpaceInEmptyParentheses: false

.cmake-format.py

@@ -0,0 +1,240 @@
+# ----------------------------------
+# Options affecting listfile parsing
+# ----------------------------------
+with section("parse"):
+
+  # Specify structure for custom cmake functions
+  additional_commands = { 'foo': { 'flags': ['BAR', 'BAZ'],
+             'kwargs': {'DEPENDS': '*', 'HEADERS': '*', 'SOURCES': '*'}}}
+
+  # Override configurations per-command where available
+  override_spec = {}
+
+  # Specify variable tags.
+  vartags = []
+
+  # Specify property tags.
+  proptags = []
+
+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+
+  # Disable formatting entirely, making cmake-format a no-op
+  disable = False
+
+  # How wide to allow formatted cmake files
+  line_width = 80
+
+  # How many spaces to tab for indent
+  tab_size = 2
+
+  # If true, lines are indented using tab characters (utf-8 0x09) instead of
+  # <tab_size> space characters (utf-8 0x20). In cases where the layout would
+  # require a fractional tab character, the behavior of the  fractional
+  # indentation is governed by <fractional_tab_policy>
+  use_tabchars = False
+
+  # If <use_tabchars> is True, then the value of this variable indicates how
+  # fractional indentions are handled during whitespace replacement. If set to
+  # 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
+  # to `round-up` fractional indentation is replaced with a single tab character
+  # (utf-8 0x09) effectively shifting the column to the next tabstop
+  fractional_tab_policy = 'use-space'
+
+  # If an argument group contains more than this many sub-groups (parg or kwarg
+  # groups) then force it to a vertical layout.
+  max_subgroups_hwrap = 2
+
+  # If a positional argument group contains more than this many arguments, then
+  # force it to a vertical layout.
+  max_pargs_hwrap = 6
+
+  # If a cmdline positional group consumes more than this many lines without
+  # nesting, then invalidate the layout (and nest)
+  max_rows_cmdline = 2
+
+  # If true, separate flow control names from their parentheses with a space
+  separate_ctrl_name_with_space = False
+
+  # If true, separate function names from parentheses with a space
+  separate_fn_name_with_space = False
+
+  # If a statement is wrapped to more than one line, than dangle the closing
+  # parenthesis on its own line.
+  dangle_parens = True
+
+  # If the trailing parenthesis must be 'dangled' on its on line, then align it
+  # to this reference: `prefix`: the start of the statement,  `prefix-indent`:
+  # the start of the statement, plus one indentation  level, `child`: align to
+  # the column of the arguments
+  dangle_align = 'prefix'
+
+  # If the statement spelling length (including space and parenthesis) is
+  # smaller than this amount, then force reject nested layouts.
+  min_prefix_chars = 4
+
+  # If the statement spelling length (including space and parenthesis) is larger
+  # than the tab width by more than this amount, then force reject un-nested
+  # layouts.
+  max_prefix_chars = 10
+
+  # If a candidate layout is wrapped horizontally but it exceeds this many
+  # lines, then reject the layout.
+  max_lines_hwrap = 2
+
+  # What style line endings to use in the output.
+  line_ending = 'unix'
+
+  # Format command names consistently as 'lower' or 'upper' case
+  command_case = 'canonical'
+
+  # Format keywords consistently as 'lower' or 'upper' case
+  keyword_case = 'unchanged'
+
+  # A list of command names which should always be wrapped
+  always_wrap = []
+
+  # If true, the argument lists which are known to be sortable will be sorted
+  # lexicographicall
+  enable_sort = True
+
+  # If true, the parsers may infer whether or not an argument list is sortable
+  # (without annotation).
+  autosort = False
+
+  # By default, if cmake-format cannot successfully fit everything into the
+  # desired linewidth it will apply the last, most agressive attempt that it
+  # made. If this flag is True, however, cmake-format will print error, exit
+  # with non-zero status code, and write-out nothing
+  require_valid_layout = False
+
+  # A dictionary mapping layout nodes to a list of wrap decisions. See the
+  # documentation for more information.
+  layout_passes = {}
+
+# ------------------------------------------------
+# Options affecting comment reflow and formatting.
+# ------------------------------------------------
+with section("markup"):
+
+  # What character to use for bulleted lists
+  bullet_char = '*'
+
+  # What character to use as punctuation after numerals in an enumerated list
+  enum_char = '.'
+
+  # If comment markup is enabled, don't reflow the first comment block in each
+  # listfile. Use this to preserve formatting of your copyright/license
+  # statements.
+  first_comment_is_literal = False
+
+  # If comment markup is enabled, don't reflow any comment block which matches
+  # this (regex) pattern. Default is `None` (disabled).
+  literal_comment_pattern = None
+
+  # Regular expression to match preformat fences in comments default=
+  # ``r'^\s*([`~]{3}[`~]*)(.*)$'``
+  fence_pattern = '^\\s*([`~]{3}[`~]*)(.*)$'
+
+  # Regular expression to match rulers in comments default=
+  # ``r'^\s*[^\w\s]{3}.*[^\w\s]{3}$'``
+  ruler_pattern = '^\\s*[^\\w\\s]{3}.*[^\\w\\s]{3}$'
+
+  # If a comment line matches starts with this pattern then it is explicitly a
+  # trailing comment for the preceeding argument. Default is '#<'
+  explicit_trailing_pattern = '#<'
+
+  # If a comment line starts with at least this many consecutive hash
+  # characters, then don't lstrip() them off. This allows for lazy hash rulers
+  # where the first hash char is not separated by space
+  hashruler_min_length = 10
+
+  # If true, then insert a space between the first hash char and remaining hash
+  # chars in a hash ruler, and normalize its length to fill the column
+  canonicalize_hashrulers = True
+
+  # enable comment markup parsing and reflow
+  enable_markup = True
+
+# ----------------------------
+# Options affecting the linter
+# ----------------------------
+with section("lint"):
+
+  # a list of lint codes to disable
+  disabled_codes = []
+
+  # regular expression pattern describing valid function names
+  function_pattern = '[0-9a-z_]+'
+
+  # regular expression pattern describing valid macro names
+  macro_pattern = '[0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for variables with global
+  # (cache) scope
+  global_var_pattern = '[A-Z][0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for variables with global
+  # scope (but internal semantic)
+  internal_var_pattern = '_[A-Z][0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for variables with local
+  # scope
+  local_var_pattern = '[a-z][a-z0-9_]+'
+
+  # regular expression pattern describing valid names for privatedirectory
+  # variables
+  private_var_pattern = '_[0-9a-z_]+'
+
+  # regular expression pattern describing valid names for public directory
+  # variables
+  public_var_pattern = '[A-Z][0-9A-Z_]+'
+
+  # regular expression pattern describing valid names for function/macro
+  # arguments and loop variables.
+  argument_var_pattern = '[a-z][a-z0-9_]+'
+
+  # regular expression pattern describing valid names for keywords used in
+  # functions or macros
+  keyword_pattern = '[A-Z][0-9A-Z_]+'
+
+  # In the heuristic for C0201, how many conditionals to match within a loop in
+  # before considering the loop a parser.
+  max_conditionals_custom_parser = 2
+
+  # Require at least this many newlines between statements
+  min_statement_spacing = 1
+
+  # Require no more than this many newlines between statements
+  max_statement_spacing = 2
+  max_returns = 6
+  max_branches = 12
+  max_arguments = 5
+  max_localvars = 15
+  max_statements = 50
+
+# -------------------------------
+# Options affecting file encoding
+# -------------------------------
+with section("encode"):
+
+  # If true, emit the unicode byte-order mark (BOM) at the start of the file
+  emit_byteorder_mark = False
+
+  # Specify the encoding of the input file. Defaults to utf-8
+  input_encoding = 'utf-8'
+
+  # Specify the encoding of the output file. Defaults to utf-8. Note that cmake
+  # only claims to support utf-8 so be careful when using anything else
+  output_encoding = 'utf-8'
+
+# -------------------------------------
+# Miscellaneous configurations options.
+# -------------------------------------
+with section("misc"):
+
+  # A dictionary containing any per-command configuration overrides. Currently
+  # only `command_case` is supported.
+  per_command = {}

.pre-commit-config.yaml

@@ -14,12 +14,11 @@ repos:
       - id: trailing-whitespace
 
   # YAML linter
-  - repo: https://github.com/adrienverge/yamllint.git
+  - repo: https://github.com/adrienverge/yamllint
     rev: v1.35.1
     hooks:
       - id: yamllint
         exclude: ^.clang-tidy$
-        # TODO: Discuss yamllint settings (e.g. line-length)
         args: [--strict, -d, ".yamllint-config.yaml"]
 
   # CMake linter and formatter
@@ -42,4 +41,4 @@ repos:
     rev: v17.0.6
     hooks:
       - id: clang-format
-        types: [c, c++]
+        types_or: [c, c++]

Makefile

@@ -4,19 +4,27 @@
 .RECIPEPREFIX := $(.RECIPEPREFIX) $(.RECIPEPREFIX)
 
 SHELL = /bin/bash
+
+CMAKE_EXPORT_COMPILE_COMMANDS ?= ON
 CMAKE_BUILD_TYPE ?= Release
 CMAKE_TOOLS_ADDRESS_SANITIZER ?= OFF
+
 CXXFLAGS := \
     ${CXXFLAGS} \
-    $(shell if [ "$${CMAKE_TOOLS_ADDRESS_SANITIZER^^}" = "ON" ]; then echo "-fsanitize=address"; fi)
+    $(shell if [ "${CMAKE_TOOLS_ADDRESS_SANITIZER}" = "ON" ]; then echo "-fsanitize=address"; fi)
+
 CMAKE_ARGS ?= \
-    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=${CMAKE_EXPORT_COMPILE_COMMANDS} \
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
     -DCMAKE_CXX_FLAGS="${CXXFLAGS}"
 
 FILES_TO_LINT := $(shell find . \( -name "*.h" -or -name "*.cpp" -or -name "*.cc" \) \
                     -not -path "*/build/*" -not -path "*/install/*" -not -path "*/log/*")
 
+CLANG_TIDY_FIX_FILES ?= ON
+CLANG_TIDY_FLAGS := \
+	$(shell if [ "${CLANG_TIDY_FIX_FILES}" = "ON" ]; then echo "-fix"; fi)
+
 .PHONY: all
 all:
     $(error Please use explicit targets)
@@ -26,6 +34,8 @@ build-all:
     source ${ROS_ROOT}/setup.sh
     colcon --log-base /dev/null build \
         --base-paths packages \
+        --executor parallel \
+		--parallel-workers $$(nproc) \
         --symlink-install \
         --cmake-args ${CMAKE_ARGS}
 
@@ -34,16 +44,20 @@ test-all:
     source ${ROS_ROOT}/setup.sh
     source install/setup.sh
     colcon --log-base /dev/null test \
-        --ctest-args tests --symlink-install \
-        --executor parallel --parallel-workers $$(nproc) \
-        --event-handlers console_cohesion+
+        --base-paths packages \
+		--return-code-on-test-failure \
+		--executor parallel \
+		--parallel-workers $$(nproc) \
+		--event-handlers console_cohesion+
 
 .PHONY: build
 # packages="first_pkg second_pkg third_pkg..."
 build:
     source ${ROS_ROOT}/setup.sh
     colcon --log-base /dev/null build \
         --base-paths packages \
+        --executor parallel \
+		--parallel-workers $$(nproc) \
         --symlink-install \
         --cmake-args ${CMAKE_ARGS} \
         --packages-up-to $(packages)
@@ -53,20 +67,22 @@ build:
 test:
     source ${ROS_ROOT}/setup.sh
     source install/setup.sh
-    colcon --log-base /dev/null test --ctest-args tests --symlink-install \
-        --executor parallel --parallel-workers $$(nproc) \
-        --event-handlers console_cohesion+ --packages-select $(packages)
+    colcon --log-base /dev/null test \
+        --base-paths packages \
+		--return-code-on-test-failure \
+        --executor parallel \
+	    --parallel-workers $$(nproc) \
+        --event-handlers console_cohesion+ \
+		--packages-select $(packages)
 
 .PHONY: lint-all
-# args="-fix ..."
 lint-all:
-    run-clang-tidy -p=build $(args) $(FILES_TO_LINT)
+    run-clang-tidy -p=build ${CLANG_TIDY_FLAGS} $(FILES_TO_LINT)
 
 .PHONY: lint
-# args="-fix ..."
 # files="first_file second_file third_file..."
 lint:
-    run-clang-tidy -p=build $(args) $(files)
+    run-clang-tidy -p=build ${CLANG_TIDY_FLAGS} $(files)
 
 .PHONY: clean
 clean:

packages/camera/CMakeLists.txt

@@ -24,16 +24,19 @@ set_target_properties(mvsdk PROPERTIES IMPORTED_LOCATION "/lib/libMVSDK.so")
 add_library(queue_lib INTERFACE)
 
 add_executable(camera src/camera.cpp src/camera_status.cpp)
-add_executable(calibration src/calibration_main.cpp src/calibration.cpp
-                           src/params.cpp)
+add_executable(
+  calibration src/calibration_main.cpp src/calibration.cpp src/params.cpp
+)
 
 target_include_directories(
   camera PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>" "/usr/include")
+                "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>" "/usr/include"
+)
 
 target_include_directories(
   calibration PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                     "/usr/include")
+                     "/usr/include"
+)
 
 ament_target_dependencies(camera yaml_cpp_vendor)