CIにLintによるコードスタイルのチェックを追加。スケッチファイルのコード整形を実施。 (#5)

* Add lint.yaml

* Set recursive true

* Set comliance specification

* Add clang-format check

* .clang-formatファイルをルートに追加。
STEP1に.clang-formatを追加。
STEP1にArduino-IDEの自動整形を適用

* 自動整形についてREADMEに説明を記載

* .clang-formatのシンボリックリンクをSTEP2-STEP13に追加

* STEP2-8を自動整形

* Use zsh for clang-format

* Update for zsh

* STEP11-13に自動整形を適用

* メッセージヘッダーファイルが見つからないエラーを解決するため、インクルード順序を変更する。また、これをclang-formatのチェック対象外とする

Author: Shota Aoki

.clang-format

@@ -0,0 +1,17 @@
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

.github/workflows/lint.yaml

@@ -0,0 +1,30 @@
+name: Lint
+
+on:
+  push:
+    paths-ignore:
+    - '**.md'
+  pull_request:
+    paths-ignore:
+    - '**.md'
+  workflow_dispatch:
+
+jobs:
+  arduino-lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          recursive: true
+          compliance: specification
+  clang-format:
+    needs: arduino-lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      # 各スケッチファイルの.ino、.hファイルに対してclang-formatによる整形が必要か判定する
+      # 正規表現を簡単にするためzshを使用する
+      - run: sudo apt install -y clang-format zsh
+      - run: clang-format --dry-run -Werror uROS_STEP*/*.(ino|h)
+        shell: zsh {0}

README.md

@@ -2,3 +2,8 @@
 
 [![CI](https://github.com/rt-net/pico_micro_ros_examples/actions/workflows/ci.yaml/badge.svg?branch=main)](https://github.com/rt-net/pico_micro_ros_examples/actions/workflows/ci.yaml)
 
+
+## スケッチファイルの自動整形について
+
+ソースコードのレイアウトを整えるため、各スケッチファイルにはArduino IDEの自動整形を適用しています。
+自動整形のルールは[.clang-format](.clang-format) ファイルを参照してください。

uROS_STEP10_twistMsg/.clang-format

@@ -0,0 +1 @@
+../.clang-format

uROS_STEP10_twistMsg/interrupt.ino

@@ -12,40 +12,38 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-void control_interrupt(void){
+void control_interrupt(void)
+{
+  double speed_r, speed_l;
 
-double speed_r,speed_l;
-
-  if ((speed < 0.001) && (speed > -0.001)
-      && (omega < 0.001) && (omega > -0.001)) {
+  if ((speed < 0.001) && (speed > -0.001) && (omega < 0.001) && (omega > -0.001)) {
     motor_move = 0;
   } else {
     motor_move = 1;
   }
 
-  speed_r = speed + omega*TREAD_WIDTH/2.0;
-  speed_l = speed - omega*TREAD_WIDTH/2.0;
+  speed_r = speed + omega * TREAD_WIDTH / 2.0;
+  speed_l = speed - omega * TREAD_WIDTH / 2.0;
 
-  if(speed_r > 0){
+  if (speed_r > 0) {
     digitalWrite(CW_R, LOW);
-  }else{
+  } else {
     digitalWrite(CW_R, HIGH);
     speed_r *= -1.0;
   }
-  if(speed_r < 0.001){
-    speed_r=0.0;
-  }else if(speed_r < MIN_SPEED){
-    speed_r =MIN_SPEED;
+  if (speed_r < 0.001) {
+    speed_r = 0.0;
+  } else if (speed_r < MIN_SPEED) {
+    speed_r = MIN_SPEED;
   }
-  RStepHz = (signed short)(speed_r/PULSE);
+  RStepHz = (signed short)(speed_r / PULSE);
 
-  if(speed_l > 0){
+  if (speed_l > 0) {
     digitalWrite(CW_L, LOW);
-  }else{
+  } else {
     digitalWrite(CW_L, HIGH);
     speed_l *= -1.0;
   }
-  if(speed_l < MIN_SPEED)speed_l =MIN_SPEED;
-  LStepHz = (signed short)(speed_l/PULSE);
-
+  if (speed_l < MIN_SPEED) speed_l = MIN_SPEED;
+  LStepHz = (signed short)(speed_l / PULSE);
 }

uROS_STEP10_twistMsg/uROS_STEP10_twistMsg.ino

@@ -12,16 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
+// clang-format off
+// メッセージヘッダーファイルを見つけるため、micro_ros_arduino.hを先にインクルードすること
 #include <micro_ros_arduino.h>
-
-#include <stdio.h>
-#include <rcl/rcl.h>
+#include <geometry_msgs/msg/twist.h>
 #include <rcl/error_handling.h>
-#include <rclc/rclc.h>
+#include <rcl/rcl.h>
 #include <rclc/executor.h>
+#include <rclc/rclc.h>
+#include <stdio.h>
+// clang-format on
 
-#include <geometry_msgs/msg/twist.h>
 geometry_msgs__msg__Twist msg;
 
 rcl_subscription_t subscriber;
@@ -47,9 +48,9 @@ rcl_node_t node;
 #define MIN_SPEED (MIN_HZ * PULSE)
 #define TREAD_WIDTH (65.0)
 
-hw_timer_t* timer0 = NULL;
-hw_timer_t* timer2 = NULL;
-hw_timer_t* timer3 = NULL;
+hw_timer_t * timer0 = NULL;
+hw_timer_t * timer2 = NULL;
+hw_timer_t * timer3 = NULL;
 
 portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
 
@@ -70,18 +71,23 @@ double omega = 0;
 
 volatile bool motor_move = 0;
 
-#define RCCHECK(fn) \
-  { \
-    rcl_ret_t temp_rc = fn; \
-    if ((temp_rc != RCL_RET_OK)) { error_loop(); } \
+#define RCCHECK(fn)                \
+  {                                \
+    rcl_ret_t temp_rc = fn;        \
+    if ((temp_rc != RCL_RET_OK)) { \
+      error_loop();                \
+    }                              \
   }
-#define RCSOFTCHECK(fn) \
-  { \
-    rcl_ret_t temp_rc = fn; \
-    if ((temp_rc != RCL_RET_OK)) { error_loop(); } \
+#define RCSOFTCHECK(fn)            \
+  {                                \
+    rcl_ret_t temp_rc = fn;        \
+    if ((temp_rc != RCL_RET_OK)) { \
+      error_loop();                \
+    }                              \
   }
 
-void error_loop() {
+void error_loop()
+{
   while (1) {
     digitalWrite(LED0, !digitalRead(LED0));
     delay(100);
@@ -90,14 +96,16 @@ void error_loop() {
 
 //割り込み
 //目標値の更新周期1kHz
-void IRAM_ATTR OnTimer0(void) {
+void IRAM_ATTR OnTimer0(void)
+{
   portENTER_CRITICAL_ISR(&timerMux);  //割り込み禁止
   control_interrupt();
   portEXIT_CRITICAL_ISR(&timerMux);  //割り込み許可
 }
 
 //Rモータの周期数割り込み
-void IRAM_ATTR IsrR(void) {
+void IRAM_ATTR IsrR(void)
+{
   portENTER_CRITICAL_ISR(&timerMux);  //割り込み禁止
   if (motor_move) {
     if (RStepHz < 30) RStepHz = 30;
@@ -113,7 +121,8 @@ void IRAM_ATTR IsrR(void) {
 }
 
 //Lモータの周期数割り込み
-void IRAM_ATTR IsrL(void) {
+void IRAM_ATTR IsrL(void)
+{
   portENTER_CRITICAL_ISR(&timerMux);  //割り込み禁止
   if (motor_move) {
     if (LStepHz < 30) LStepHz = 30;
@@ -128,17 +137,17 @@ void IRAM_ATTR IsrL(void) {
   portEXIT_CRITICAL_ISR(&timerMux);  //割り込み許可
 }
 
-
 //twist message cb
-void subscription_callback(const void* msgin) {
-  const geometry_msgs__msg__Twist* msg = (const geometry_msgs__msg__Twist*)msgin;
+void subscription_callback(const void * msgin)
+{
+  const geometry_msgs__msg__Twist * msg = (const geometry_msgs__msg__Twist *)msgin;
 
   speed = msg->linear.x * 1000.0;
   omega = msg->angular.z;
-
 }
 
-void setup() {
+void setup()
+{
   //  set_microros_transports();
   pinMode(LED0, OUTPUT);
   pinMode(LED1, OUTPUT);
@@ -147,7 +156,7 @@ void setup() {
 
   digitalWrite(LED1, HIGH);
   set_microros_wifi_transports("使用するWiFiのAP名", "Wi-Fiのパスワード", "PCのIPアドレス", 8888);
- 
+
   digitalWrite(LED2, HIGH);
 
   //motor disable
@@ -190,19 +199,18 @@ void setup() {
 
   // create subscriber
   RCCHECK(rclc_subscription_init_default(
-    &subscriber,
-    &node,
-    ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
-    "/cmd_vel"));
+    &subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist), "/cmd_vel"));
 
   // create executor
   RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-  RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
+  RCCHECK(rclc_executor_add_subscription(
+    &executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
 
   digitalWrite(MOTOR_EN, HIGH);
 }
 
-void loop() {
+void loop()
+{
   delay(10);
   RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
 }

uROS_STEP11_tfMsg/.clang-format

@@ -0,0 +1 @@
+../.clang-format

uROS_STEP11_tfMsg/intrrupt.ino

@@ -12,36 +12,36 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-void control_interrupt(void) {
+void control_interrupt(void)
+{
   double speed_r, speed_l;
 
-  if ((speed < 0.001) && (speed > -0.001)
-      && (omega < 0.001) && (omega > -0.001)) {
+  if ((speed < 0.001) && (speed > -0.001) && (omega < 0.001) && (omega > -0.001)) {
     motor_move = 0;
   } else {
     motor_move = 1;
   }
 
-  speed_r = speed + omega*TREAD_WIDTH/2.0;
-  speed_l = speed - omega*TREAD_WIDTH/2.0;
+  speed_r = speed + omega * TREAD_WIDTH / 2.0;
+  speed_l = speed - omega * TREAD_WIDTH / 2.0;
 
-  if((speed_r >0.001)&&(speed_r<MIN_SPEED)){
+  if ((speed_r > 0.001) && (speed_r < MIN_SPEED)) {
     speed_r = MIN_SPEED;
-  }else if((speed_r < -0.001)&&(speed_r> (-1.0*MIN_SPEED))){
+  } else if ((speed_r < -0.001) && (speed_r > (-1.0 * MIN_SPEED))) {
     speed_r = -1.0 * MIN_SPEED;
   }
-  if((speed_l >0.001)&&(speed_l<MIN_SPEED)){
+  if ((speed_l > 0.001) && (speed_l < MIN_SPEED)) {
     speed_l = MIN_SPEED;
-  }else if((speed_l < -0.001)&&(speed_l> (-1.0*MIN_SPEED))){
+  } else if ((speed_l < -0.001) && (speed_l > (-1.0 * MIN_SPEED))) {
     speed_l = -1.0 * MIN_SPEED;
   }
-  speed= (speed_r+speed_l)/2.0;
+  speed = (speed_r + speed_l) / 2.0;
 
-  odom_x += speed *0.001 * cos(odom_theta) * 0.001;
-  odom_y += speed *0.001 * sin(odom_theta) * 0.001;
-  odom_theta += omega *0.001;
-  position_r += speed_r*0.001 /(48 * PI) * 2 * PI;
-  position_l -= speed_l*0.001 /(48 * PI) * 2 * PI;
+  odom_x += speed * 0.001 * cos(odom_theta) * 0.001;
+  odom_y += speed * 0.001 * sin(odom_theta) * 0.001;
+  odom_theta += omega * 0.001;
+  position_r += speed_r * 0.001 / (48 * PI) * 2 * PI;
+  position_l -= speed_l * 0.001 / (48 * PI) * 2 * PI;
 
   if (speed_r > 0) {
     digitalWrite(CW_R, LOW);
@@ -57,4 +57,3 @@ void control_interrupt(void) {
   }
   L_STEP_HZ = abs((signed short)(speed_l / PULSE));
 }
-