[pre-commit for python and cmake]

Uses ruff
Modifies pyproject.toml to add ruff setup
README.md add Ruff badge.
Modifies py files consequently.

Author: olivier-stasse

.pre-commit-config.yaml

@@ -1,15 +1,43 @@
-# See https://pre-commit.com for more information
-# See https://pre-commit.com/hooks.html for more hooks
+ci:
+    autoupdate_branch: 'devel'
 repos:
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v15.0.7
     hooks:
     -   id: clang-format
         args: [--style=Google]
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.2.0
+    rev: v4.4.0
     hooks:
-    -   id: trailing-whitespace
-    -   id: end-of-file-fixer
-    -   id: check-yaml
     -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.12.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/charliermarsh/ruff-pre-commit
+    rev: v0.0.259
+    hooks:
+    -   id: ruff
+        args: [--fix, --exit-non-zero-on-fix]
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    -   id: cmake-format
+-   repo: https://github.com/PyCQA/isort
+    rev: 5.12.0
+    hooks:
+    -   id: isort

CMakeLists.txt

@@ -31,9 +31,9 @@ include(cmake/ros.cmake)
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
-#if(NOT CMAKE_CXX_STANDARD)
+# if(NOT CMAKE_CXX_STANDARD)
 set(CMAKE_CXX_STANDARD 17)
-#endif()
+# endif()
 
 cmake_policy(SET CMP0057 NEW)
 find_package(ament_cmake REQUIRED)
@@ -83,5 +83,5 @@ install(DIRECTORY include/ DESTINATION include)
 # Install package information
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
-#ROS 2 packaging
+# ROS 2 packaging
 ament_package()

README.md

@@ -4,6 +4,7 @@ dynamic-graph bindings
 [![Building Status](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge)
 [![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/commits/master)
 [![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/dynamic_graph_bridge/master/coverage/)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/charliermarsh/ruff/main/assets/badge/v1.json)](https://github.com/charliermarsh/ruff)
 
 This ROS package binds together the ROS framework with the
 dynamic-graph real-time control architecture.

include/dynamic_graph_bridge/sot_loader.hh

@@ -28,7 +28,7 @@
 #include <thread>
 
 // ROS includes
-//#include "ros/ros.h"
+// #include "ros/ros.h"
 #include <tf2_ros/transform_broadcaster.h>
 
 #include <sensor_msgs/msg/joint_state.hpp>

pyproject.toml

@@ -0,0 +1,11 @@
+[tool.black]
+exclude = "cmake"
+
+[tool.ruff]
+exclude = ["cmake"]
+extend-ignore = ["D203", "D213"]
+extend-select = ["A", "B", "C", "COM", "D", "EM", "EXE", "G", "N", "PTH", "RET", "RUF", "UP", "W", "YTT"]
+target-version = "py310"
+
+[tool.isort]
+profile = "black"

scripts/remote_python_client.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-"""@package dynamic_graph_bridge
+"""@package dynamic_graph_bridge.
 
 @file
 @license License BSD-3-Clause
@@ -11,15 +11,18 @@
 
 """
 
+import atexit
+import code
+
 # Standard import.
 import optparse
-import os.path
-import code
 import os
-import sys
+import os.path
 import readline
-import atexit
 import signal
+import sys
+from pathlib import Path
+
 import rclpy
 
 # Used to connect to ROS services
@@ -28,44 +31,41 @@
 
 
 def signal_handler(sig, frame):
-    """
-    Catch Ctrl+C and quit.
-    """
+    """Catch Ctrl+C and quit."""
     print("")
     print("You pressed Ctrl+C! Closing ros client and shell.")
     rclpy.try_shutdown()
     sys.exit(0)
 
 
 # Command history, auto-completetion and keyboard management
-python_history = os.path.join(os.environ["HOME"], ".dg_python_history")
+python_history = Path.join(os.environ["HOME"], ".dg_python_history")
 readline.parse_and_bind("tab: complete")
 readline.set_history_length(100000)
 
 
 def save_history(histfile):
-    """ Write the history of the user command in a file """
+    """Write the history of the user command in a file."""
     readline.write_history_file(histfile)
 
 
 """
-Read the current history if it exists and program its save upon the program end.
+Read the current history if it exists and program
+its save upon the program end.
 """
 if hasattr(readline, "read_history_file"):
     try:
         readline.read_history_file(python_history)
-    except IOError:
+    except OSError:
         pass
     atexit.register(save_history, python_history)
 
 
 class DynamicGraphInteractiveConsole(code.InteractiveConsole):
-    """
-    For the subtilities please read https://docs.python.org/3/library/code.html
-    """
+    """For the subtilities please read https://docs.python.org/3/library/code.html."""
 
     def __init__(self):
-
+        """Create interpreter in ROS for DG interactive console."""
         # Create the python terminal
         code.InteractiveConsole.__init__(self)
 
@@ -78,19 +78,19 @@ def __init__(self):
             readline.set_completer(self.dg_completer.complete)
 
     def runcode(self, code):
-        """
-        Inherited from code.InteractiveConsole
+        """Inherited from code.InteractiveConsole.
 
-        We execute the code pushed in the cache `self.lines_pushed`. The code is
-        pushed whenever the user press enter during the interactive session.
+        We execute the code pushed in the cache `self.lines_pushed`.
+        The code is pushed whenever the user press enter during the
+        interactive session.
         see https://docs.python.org/3/library/code.html
         """
         try:
             # we copy the line in a tmp var
             code_string = self.lines_pushed[:-1]
-            result = self.ros_python_interpreter.run_python_command(
-                code_string
-            )
+            rpi = self.ros_python_interpreter
+            result = rpi.run_python_command(code_string)
+
             self.write(result)
             if not result.endswith("\n"):
                 self.write("\n")
@@ -101,17 +101,15 @@ def runcode(self, code):
             return False
 
     def runsource(self, source, filename="<input>", symbol="single"):
-        """
-        Inherited from code.InteractiveConsole
+        """Inherited from code.InteractiveConsole.
 
         see https://docs.python.org/3/library/code.html
         """
         try:
             c = code.compile_command(source, filename, symbol)
             if c:
                 return self.runcode(c)
-            else:
-                return True
+            return True
         except SyntaxError:
             self.showsyntaxerror()
             self.lines_pushed = ""
@@ -123,11 +121,9 @@ def runsource(self, source, filename="<input>", symbol="single"):
             return False
 
     def push(self, line):
-        """
-        Upon pressing enter in the interactive shell the user "push" a string.
-        This method is then called with the string pushed.
-        We catch the string to send it via the rosservice.
-        """
+        """Upon pressing enter in the interactive shell the user "push" a string."""
+        """This method is then called with the string pushed.
+        We catch the string to send it via the rosservice."""
         self.lines_pushed += line + "\n"
         return code.InteractiveConsole.push(self, line)
 
@@ -142,14 +138,9 @@ def push(self, line):
 
     if args[:]:
         infile = args[0]
-        response = dg_console.ros_python_interpreter.run_python_script(
-            os.path.abspath(infile)
-        )
-        print(
-            dg_console.ros_python_interpreter.run_python_command(
-                "print('File parsed')"
-            )
-        )
+        rpi = dg_console.ros_python_interpreter
+        response = rpi.run_python_script(Path.abspath(infile))
+        print(rpi.run_python_command("print('File parsed')"))
 
     signal.signal(signal.SIGINT, signal_handler)
     dg_console.interact("Interacting with remote python server.")

setup.cfg

@@ -0,0 +1,4 @@
+[flake8]
+exclude = cmake
+max-line-length = 88
+extend-ignore = E203

src/CMakeLists.txt

@@ -20,7 +20,8 @@ set(${PROJECT_NAME}_SOURCES
 )
 add_library(ros_bridge SHARED ${${PROJECT_NAME}_SOURCES}
                               ${${PROJECT_NAME}_HEADERS})
-target_include_directories(ros_bridge
+target_include_directories(
+  ros_bridge
   PUBLIC $<INSTALL_INTERFACE:include>
   PRIVATE ${PROJECT_SOURCE_DIR}/include)
 target_link_libraries(
@@ -52,19 +53,21 @@ endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 set(plugins ros_publish ros_subscribe)
 foreach(plugin ${plugins})
   get_filename_component(plugin_library_name ${plugin} NAME)
-  add_library(${plugin_library_name} SHARED
-    ${PROJECT_SOURCE_DIR}/src/${plugin}.cpp #
-    ${PROJECT_SOURCE_DIR}/src/${plugin}.hpp #
+  add_library(
+    ${plugin_library_name} SHARED ${PROJECT_SOURCE_DIR}/src/${plugin}.cpp #
+                                  ${PROJECT_SOURCE_DIR}/src/${plugin}.hpp #
   )
   if(SUFFIX_SO_VERSION)
     set_target_properties(${plugin_library_name} PROPERTIES SOVERSION
-                                                     ${PROJECT_VERSION})
+                                                            ${PROJECT_VERSION})
   endif(SUFFIX_SO_VERSION)
   target_link_libraries(
-    ${plugin_library_name} ${${plugin_library_name}_deps} ${catkin_LIBRARIES} ros_bridge
+    ${plugin_library_name} ${${plugin_library_name}_deps} ${catkin_LIBRARIES}
+    ros_bridge
     dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs__rosidl_typesupport_cpp
   )
-  target_include_directories(${plugin_library_name}
+  target_include_directories(
+    ${plugin_library_name}
     PUBLIC $<INSTALL_INTERFACE:include>
     PRIVATE ${PROJECT_SOURCE_DIR}/include)
   if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
@@ -86,7 +89,8 @@ foreach(plugin ${plugins})
         ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap MODULE_HEADER
         "${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh")
     endif()
-    target_include_directories(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+    target_include_directories(
+      ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
       PUBLIC $<INSTALL_INTERFACE:include>
       PRIVATE ${PROJECT_SOURCE_DIR}/include)
   endif(BUILD_PYTHON_INTERFACE)
@@ -100,10 +104,11 @@ endif(BUILD_PYTHON_INTERFACE)
 
 # Sot loader library
 add_library(sot_loader sot_loader.cpp sot_loader_basic.cpp)
- target_link_libraries(
+target_link_libraries(
   sot_loader Boost::program_options ${catkin_LIBRARIES} ros_bridge
   dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs__rosidl_typesupport_cpp)
-target_include_directories(sot_loader
+target_include_directories(
+  sot_loader
   PUBLIC $<INSTALL_INTERFACE:include>
   PRIVATE ${PROJECT_SOURCE_DIR}/include)
 install(
@@ -114,10 +119,15 @@ install(
 # Stand alone embedded intepreter with a robot controller.
 add_executable(geometric_simu programs/geometric_simu.cpp)
 target_link_libraries(
-  geometric_simu Boost::program_options ${CMAKE_DL_LIBS} ${catkin_LIBRARIES}
-  ros_bridge sot_loader
+  geometric_simu
+  Boost::program_options
+  ${CMAKE_DL_LIBS}
+  ${catkin_LIBRARIES}
+  ros_bridge
+  sot_loader
   dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs__rosidl_typesupport_cpp)
-target_include_directories(geometric_simu
+target_include_directories(
+  geometric_simu
   PUBLIC $<INSTALL_INTERFACE:include>
   PRIVATE ${PROJECT_SOURCE_DIR}/include)
 install(TARGETS geometric_simu DESTINATION lib/${PROJECT_NAME})

src/dynamic_graph/ros/__init__.py

@@ -1,4 +1,4 @@
-"""@package dynamic_graph_bridge
+"""@package dynamic_graph_bridge.
 
 @file __init__.py
 @author Maximilien Naveau (maximilien.naveau@gmail.com)