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Use consistent dotnet/C# code-style #100

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268 changes: 268 additions & 0 deletions .editorconfig
Original file line number Diff line number Diff line change
@@ -0,0 +1,268 @@
# See http://EditorConfig.org for more information about .editorconfig files.

# Install VSCode extension for support in all file types.
# The C# extension does the .NET specific stuff.
# https://marketplace.visualstudio.com/items?itemName=EditorConfig.EditorConfig
# https://marketplace.visualstudio.com/items?itemName=ms-dotnettools.csharp


# Non C# specific config taken from https://github.com/RehanSaeed/EditorConfig/

# This file is the top-most EditorConfig file
root = true

# All Files
[*]
charset = utf-8
indent_style = space
indent_size = 4
insert_final_newline = true
trim_trailing_whitespace = true

# Visual Studio Solution Files
[*.sln]
indent_style = tab

# Visual Studio XML Project Files
[*.{csproj,vbproj,vcxproj.filters,proj,projitems,shproj}]
indent_size = 2

# XML Configuration Files
[*.{xml,config,props,targets,nuspec,resx,ruleset,vsixmanifest,vsct}]
indent_size = 2

# JSON Files
[*.{json,json5,webmanifest}]
indent_size = 2

# YAML Files
[*.{yml,yaml}]
indent_size = 2

# Markdown Files
[*.{md,mdx}]
indent_size = 2
trim_trailing_whitespace = false

# Web Files
[*.{htm,html,js,jsm,ts,tsx,cjs,cts,ctsx,mjs,mts,mtsx,css,sass,scss,less,pcss,svg,vue}]
indent_size = 2

# Batch Files
[*.{cmd,bat}]
end_of_line = crlf

# Bash Files
[*.sh]
end_of_line = lf

# Makefiles
[Makefile]
indent_style = tab

# Generic stuff not taken from the above repo

# CMake
[{CMakeLists.txt,*.cmake,*.rst}]
indent_size = 2
indent_style = space


# The next section is based on https://github.com/terrajobst/apireview.net/blob/main/.editorconfig
# with some modifications to not be so strict or more in sync with the
# Coding Style Conventions from the book "Framework Design Guidlines".
# The Coding Style Conventions the book are derived from this file https://github.com/dotnet/runtime/blob/main/docs/coding-guidelines/coding-style.md

# see https://docs.microsoft.com/en-us/dotnet/fundamentals/code-analysis/style-rules/

# Dotnet code style settings:
[*.{cs,vb}]
# Sort using and Import directives with System.* appearing first
dotnet_sort_system_directives_first = true
# Avoid "this." and "Me." if not necessary
dotnet_style_qualification_for_field = false:error
dotnet_style_qualification_for_property = false:error
dotnet_style_qualification_for_method = false:error
dotnet_style_qualification_for_event = false:error

# Use language keywords instead of framework type names for type references
dotnet_style_predefined_type_for_locals_parameters_members = true:error
dotnet_style_predefined_type_for_member_access = true:error

# Suggest more modern language features when available
dotnet_style_object_initializer = true:suggestion
dotnet_style_collection_initializer = true:suggestion
dotnet_style_coalesce_expression = true:suggestion
dotnet_style_null_propagation = true:suggestion
dotnet_style_explicit_tuple_names = true:suggestion

# Non-private static fields are PascalCase
dotnet_naming_rule.non_private_static_fields_should_be_pascal_case.severity = suggestion
dotnet_naming_rule.non_private_static_fields_should_be_pascal_case.symbols = non_private_static_fields
dotnet_naming_rule.non_private_static_fields_should_be_pascal_case.style = non_private_static_field_style

dotnet_naming_symbols.non_private_static_fields.applicable_kinds = field
dotnet_naming_symbols.non_private_static_fields.applicable_accessibilities = public, protected, internal, protected internal, private protected
dotnet_naming_symbols.non_private_static_fields.required_modifiers = static

dotnet_naming_style.non_private_static_field_style.capitalization = pascal_case

# Constants are PascalCase
dotnet_naming_rule.constants_should_be_pascal_case.severity = suggestion
dotnet_naming_rule.constants_should_be_pascal_case.symbols = constants
dotnet_naming_rule.constants_should_be_pascal_case.style = constant_style

dotnet_naming_symbols.constants.applicable_kinds = field, local
dotnet_naming_symbols.constants.required_modifiers = const

dotnet_naming_style.constant_style.capitalization = pascal_case

# Instance fields are camelCase and start with _
dotnet_naming_rule.instance_fields_should_be_camel_case.severity = suggestion
dotnet_naming_rule.instance_fields_should_be_camel_case.symbols = instance_fields
dotnet_naming_rule.instance_fields_should_be_camel_case.style = instance_field_style

dotnet_naming_symbols.instance_fields.applicable_kinds = field

dotnet_naming_style.instance_field_style.capitalization = camel_case
dotnet_naming_style.instance_field_style.required_prefix = _

# Locals and parameters are camelCase
dotnet_naming_rule.locals_should_be_camel_case.severity = suggestion
dotnet_naming_rule.locals_should_be_camel_case.symbols = locals_and_parameters
dotnet_naming_rule.locals_should_be_camel_case.style = camel_case_style

dotnet_naming_symbols.locals_and_parameters.applicable_kinds = parameter, local

dotnet_naming_style.camel_case_style.capitalization = camel_case

# Local functions are PascalCase
dotnet_naming_rule.local_functions_should_be_pascal_case.severity = suggestion
dotnet_naming_rule.local_functions_should_be_pascal_case.symbols = local_functions
dotnet_naming_rule.local_functions_should_be_pascal_case.style = local_function_style

dotnet_naming_symbols.local_functions.applicable_kinds = local_function

dotnet_naming_style.local_function_style.capitalization = pascal_case

# By default, name items with PascalCase
dotnet_naming_rule.members_should_be_pascal_case.severity = suggestion
dotnet_naming_rule.members_should_be_pascal_case.symbols = all_members
dotnet_naming_rule.members_should_be_pascal_case.style = pascal_case_style

dotnet_naming_symbols.all_members.applicable_kinds = *

dotnet_naming_style.pascal_case_style.capitalization = pascal_case

# CSharp code style settings:
[*.cs]
# Indentation preferences
csharp_indent_block_contents = true
csharp_indent_braces = false
csharp_indent_case_contents = true
csharp_indent_case_contents_when_block = false
csharp_indent_switch_labels = true
csharp_indent_labels = flush_left

# <del>Prefer "var" everywhere</del>
# Deactivated to not prefere "var", as the recomendation from "Framework Design Guidelines" is to be explicit
# unless the type is apparent from the initializer.
# Main reason is so this is clearer to the reader of the code which types are involved.
# I wouldn't go the other extreme to require explicit types everywhere (except where apparent) as well.
# Maybe we can agree without tooling to not use var when not apparent but don't call it "wrong" either if we do.
#
# dotnet_diagnostic.IDE0007.severity = error
# csharp_style_var_for_built_in_types = false:error
# csharp_style_var_when_type_is_apparent = true:error
# csharp_style_var_elsewhere = true:error

# Prefer method-like constructs to have a block body
csharp_style_expression_bodied_methods = false:none
csharp_style_expression_bodied_constructors = false:none
csharp_style_expression_bodied_operators = false:none

# Prefer property-like constructs to have an expression-body
csharp_style_expression_bodied_properties = true:error
csharp_style_expression_bodied_indexers = true:error
csharp_style_expression_bodied_accessors = true:error

# Suggest more modern language features when available
csharp_style_pattern_matching_over_is_with_cast_check = true:error
csharp_style_pattern_matching_over_as_with_null_check = true:error
csharp_style_inlined_variable_declaration = true:suggestion
csharp_style_throw_expression = true:error
csharp_style_conditional_delegate_call = true:suggestion

# Newline settings
csharp_new_line_before_open_brace = all
csharp_new_line_before_else = true
csharp_new_line_before_catch = true
csharp_new_line_before_finally = true
csharp_new_line_before_members_in_object_initializers = true
csharp_new_line_before_members_in_anonymous_types = true
csharp_new_line_between_query_expression_clauses = true

# Spacing
csharp_space_after_cast = false
csharp_space_after_colon_in_inheritance_clause = true
csharp_space_after_keywords_in_control_flow_statements = true
csharp_space_around_binary_operators = before_and_after
csharp_space_before_colon_in_inheritance_clause = true
csharp_space_between_method_call_empty_parameter_list_parentheses = false
csharp_space_between_method_call_name_and_opening_parenthesis = false
csharp_space_between_method_call_parameter_list_parentheses = false
csharp_space_between_method_declaration_empty_parameter_list_parentheses = false
csharp_space_between_method_declaration_parameter_list_parentheses = false
csharp_space_between_parentheses = false

# Labels (should someone need them...)
csharp_indent_labels = one_less_than_current

# Modifier preferences
dotnet_style_require_accessibility_modifiers = always:warning
csharp_preferred_modifier_order = public,private,protected,internal,static,extern,new,virtual,abstract,sealed,override,readonly,unsafe,volatile,async:warning

# Blocks are allowed
# AVOID omitting braces, except for argument validation at the start of the method.
# Not enforced though via tooling.
csharp_prefer_braces = false:silent
csharp_preserve_single_line_blocks = true
csharp_preserve_single_line_statements = true

# DO NOT use the bracless variant of the "using" statement
csharp_prefer_simple_using_statement = false:warning

# IDE0035: Remove unreachable code
dotnet_diagnostic.IDE0035.severity = warning

# IDE0036: Order modifiers
dotnet_diagnostic.IDE0036.severity = warning

# IDE0040: Add accessibility modifiers
dotnet_diagnostic.IDE0040.severity = warning

# IDE0043: Format string contains invalid placeholder
dotnet_diagnostic.IDE0043.severity = warning

# IDE0044: Make field readonly
dotnet_diagnostic.IDE0044.severity = warning

# CONSIDER: Are IDE0051 and IDE0052 too noisy to be warnings for IDE editing scenarios? Should they be made build-only warnings?
# IDE0051: Remove unused private member
dotnet_diagnostic.IDE0051.severity = warning

# IDE0052: Remove unread private member
dotnet_diagnostic.IDE0052.severity = warning

# IDE0055: Fix formating
# see https://docs.microsoft.com/de-de/dotnet/fundamentals/code-analysis/style-rules/formatting-rules#rule-id-ide0055-fix-formatting
dotnet_diagnostic.IDE0055.severity = warning

# IDE0059: Unnecessary assignment to a value
dotnet_diagnostic.IDE0059.severity = warning

# IDE0060: Remove unused parameter
dotnet_diagnostic.IDE0060.severity = warning

# IDE0005: Using directive is unnecessary
dotnet_diagnostic.IDE0005.severity = warning
18 changes: 9 additions & 9 deletions rcldotnet/Client.cs
Original file line number Diff line number Diff line change
Expand Up @@ -23,30 +23,30 @@ namespace ROS2
{
internal static class ClientDelegates
{
internal static readonly DllLoadUtils dllLoadUtils;
internal static readonly DllLoadUtils _dllLoadUtils;

[UnmanagedFunctionPointer (CallingConvention.Cdecl)]
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
internal delegate RCLRet NativeRCLSendRequestType(
SafeClientHandle clientHandle, SafeHandle requestHandle, out long seqneceNumber);
SafeClientHandle clientHandle, SafeHandle requestHandle, out long sequenceNumber);

internal static NativeRCLSendRequestType native_rcl_send_request = null;

[UnmanagedFunctionPointer (CallingConvention.Cdecl)]
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
internal delegate RCLRet NativeRCLServiceServerIsAvailableType(
SafeNodeHandle nodeHandle, SafeClientHandle clientHandle, out bool isAvailable);

internal static NativeRCLServiceServerIsAvailableType native_rcl_service_server_is_available = null;

static ClientDelegates()
{
dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
IntPtr nativelibrary = dllLoadUtils.LoadLibrary("rcldotnet_client");
_dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
IntPtr nativeLibrary = _dllLoadUtils.LoadLibrary("rcldotnet_client");

IntPtr native_rcl_send_request_ptr = dllLoadUtils.GetProcAddress(nativelibrary, "native_rcl_send_request");
IntPtr native_rcl_send_request_ptr = _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_send_request");
ClientDelegates.native_rcl_send_request = (NativeRCLSendRequestType)Marshal.GetDelegateForFunctionPointer(
native_rcl_send_request_ptr, typeof(NativeRCLSendRequestType));

IntPtr native_rcl_service_server_is_available_ptr = dllLoadUtils.GetProcAddress(nativelibrary, "native_rcl_service_server_is_available");
IntPtr native_rcl_service_server_is_available_ptr = _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_service_server_is_available");
ClientDelegates.native_rcl_service_server_is_available = (NativeRCLServiceServerIsAvailableType)Marshal.GetDelegateForFunctionPointer(
native_rcl_service_server_is_available_ptr, typeof(NativeRCLServiceServerIsAvailableType));
}
Expand Down Expand Up @@ -84,7 +84,7 @@ public sealed class Client<TService, TRequest, TResponse> : Client
// ros2_java uses a WeakReference here. Not sure if its needed or not.
private readonly Node _node;
private readonly ConcurrentDictionary<long, PendingRequest> _pendingRequests = new ConcurrentDictionary<long, PendingRequest>();

internal Client(SafeClientHandle handle, Node node)
{
Handle = handle;
Expand Down
6 changes: 3 additions & 3 deletions rcldotnet/MessageStaticMemberCache.cs
Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@ namespace ROS2
internal static class MessageStaticMemberCache<T>
where T : IRosMessage
{
private static IntPtr s_typeSupport;
private static Func<SafeHandle> s_createMessageHandle;
private static readonly IntPtr s_typeSupport;
private static readonly Func<SafeHandle> s_createMessageHandle;

static MessageStaticMemberCache()
{
Expand Down Expand Up @@ -71,7 +71,7 @@ public static IntPtr GetTypeSupport()
{
throw new InvalidOperationException($"Type '{typeof(T).FullName}' did not define a correct __GetTypeSupport mehtod.");
}

return s_typeSupport;
}

Expand Down
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