Merge branch 'master' into cleanup

.clang-format

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

.git-blame-ignore-revs

@@ -0,0 +1,2 @@
+# Add git commit hashes to ignore for blame
+0da6a5e499812b03d4135ff32a9b1ab01bd07ed9

.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@v3
+      - uses: actions/setup-python@v3
+      - name: Install cppcheck
+        run: sudo apt install cppcheck -y
+      - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,23 @@
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.0.277
+  hooks:
+    - id: ruff
+      args:
+        - "--fix"
+        - "--exit-non-zero-on-fix"
+- repo: https://github.com/psf/black
+  rev: 23.3.0
+  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"

docs/conf.py

@@ -1,5 +1,3 @@
-# -*- coding: utf-8 -*-
-#
 # Full list of options at http://www.sphinx-doc.org/en/master/config
 
 # -- Path setup --------------------------------------------------------------
@@ -10,18 +8,20 @@
 #
 import os
 import sys
-import catkin_pkg.package
 
+import catkin_pkg.package
 from exhale import utils
 
 package_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 catkin_package = catkin_pkg.package.parse_package(
-    os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME))
+    os.path.join(package_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)
+)
 sys.path.insert(0, os.path.abspath(os.path.join(package_dir, "src")))
 
 
 # -- Helper functions --------------------------------------------------------
 
+
 def count_files():
     """:returns tuple of (num_py, num_cpp)"""
     num_py = 0
@@ -42,7 +42,7 @@ def count_files():
 # -- Project information -----------------------------------------------------
 
 project = catkin_package.name
-copyright = '2019, Bit-Bots'
+copyright = "2019, Bit-Bots"
 author = ", ".join([a.name for a in catkin_package.authors])
 
 # The short X.Y version
@@ -60,27 +60,27 @@ def count_files():
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.doctest',
-    'sphinx.ext.intersphinx',
-    'sphinx.ext.todo',
-    'sphinx.ext.coverage',
-    'sphinx.ext.imgmath',
-    'sphinx.ext.viewcode',
-    'sphinx_rtd_theme',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.doctest",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.todo",
+    "sphinx.ext.coverage",
+    "sphinx.ext.imgmath",
+    "sphinx.ext.viewcode",
+    "sphinx_rtd_theme",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
+source_suffix = ".rst"
 
 # The master toctree document.
-master_doc = 'index'
+master_doc = "index"
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -92,7 +92,7 @@ def count_files():
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = None
@@ -108,24 +108,17 @@ def count_files():
 
 if num_files_cpp > 0:
     extensions += [
-        'breathe',
-        'exhale',
+        "breathe",
+        "exhale",
     ]
 
-    breathe_projects = {
-        project: os.path.join("_build", "doxyoutput", "xml")
-    }
+    breathe_projects = {project: os.path.join("_build", "doxyoutput", "xml")}
     breathe_default_project = project
 
     def specifications_for_kind(kind):
         # Show all members for classes and structs
         if kind == "class" or kind == "struct":
-            return [
-              ":members:",
-              ":protected-members:",
-              ":private-members:",
-              ":undoc-members:"
-            ]
+            return [":members:", ":protected-members:", ":private-members:", ":undoc-members:"]
         # An empty list signals to Exhale to use the defaults
         else:
             return []
@@ -136,21 +129,19 @@ def specifications_for_kind(kind):
         "rootFileName": "library_root.rst",
         "rootFileTitle": "C++ Library API",
         "doxygenStripFromPath": "..",
-        "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(
-            specifications_for_kind
-        ),
+        "customSpecificationsMapping": utils.makeCustomSpecificationsMapping(specifications_for_kind),
         # Suggested optional arguments
         "createTreeView": True,
         "exhaleExecutesDoxygen": True,
-        "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include"))
+        "exhaleDoxygenStdin": "INPUT = {}".format(os.path.join(package_dir, "include")),
     }
 
 # -- Options for HTML output -------------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'sphinx_rtd_theme'
+html_theme = "sphinx_rtd_theme"
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -161,7 +152,7 @@ def specifications_for_kind(kind):
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.
@@ -173,21 +164,23 @@ def specifications_for_kind(kind):
 #
 # html_sidebars = {}
 
-html_logo = os.path.join('_static', 'logo.png')
-html_favicon = os.path.join('_static', 'logo.png')
+html_logo = os.path.join("_static", "logo.png")
+html_favicon = os.path.join("_static", "logo.png")
 
 
 # -- Options for intersphinx extension ---------------------------------------
 
 # Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'https://docs.python.org/': None}
+intersphinx_mapping = {"https://docs.python.org/": None}
 
 # -- Options for todo extension ----------------------------------------------
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
 
 # -- RST Standard variables ---------------------------------------------------
-rst_prolog = ".. |project| replace:: {}\n".format(project)
+rst_prolog = f".. |project| replace:: {project}\n"
 rst_prolog += ".. |description| replace:: {}\n".format(catkin_package.description.replace("\n\n", "\n"))
-rst_prolog += ".. |modindex| replace:: {}\n".format(":ref:`modindex`" if num_files_py > 0 else "Python module index is not available")
+rst_prolog += ".. |modindex| replace:: {}\n".format(
+    ":ref:`modindex`" if num_files_py > 0 else "Python module index is not available"
+)

pyproject.toml

@@ -0,0 +1,6 @@
+[tool.black]
+line-length = 120
+
+[tool.ruff]
+line-length = 120
+select = ["F", "E", "W", "I", "N", "UP"]

setup.py

@@ -1,31 +1,29 @@
 import glob
 
-from setuptools import find_packages
-from setuptools import setup
+from setuptools import find_packages, setup
 
-package_name = 'udp_bridge'
+package_name = "udp_bridge"
 
 setup(
-      name=package_name,
-      packages=find_packages(exclude=['test']),
-      data_files=[
-          ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-          ('share/' + package_name, ['package.xml']),
-          ('share/' + package_name + '/config', glob.glob('config/*.yaml')),
-          ('share/' + package_name + '/launch', glob.glob('launch/*.launch')),
-      ],
-      install_requires=[
-          'launch',
-          'setuptools',
-      ],
-      zip_safe=True,
-      keywords=['ROS'],
-      license='MIT',
-      entry_points={
-          'console_scripts': [
-              f'receiver = {package_name}.receiver:main',
-              f'sender = {package_name}.sender:main',
-          ],
-      }
+    name=package_name,
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name + "/config", glob.glob("config/*.yaml")),
+        ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
+    ],
+    install_requires=[
+        "launch",
+        "setuptools",
+    ],
+    zip_safe=True,
+    keywords=["ROS"],
+    license="MIT",
+    entry_points={
+        "console_scripts": [
+            f"receiver = {package_name}.receiver:main",
+            f"sender = {package_name}.sender:main",
+        ],
+    },
 )

test/rostests/test_sender.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
-import rospy
 import socket
-from std_msgs import msg
+
+import rospy
 from bitbots_test.test_case import RosNodeTestCase
+from std_msgs import msg
 
 
 class SenderTestCase(RosNodeTestCase):
@@ -24,4 +25,5 @@ def test_topic_gets_published_and_sent(self):
 
 if __name__ == "__main__":
     from bitbots_test import run_rostests
+
     run_rostests(SenderTestCase)

test/rostests/test_sender_receiver.py

@@ -1,9 +1,10 @@
 #!/usr/bin/env python3
-import rospy
 from socket import gethostname
-from std_msgs import msg
-from bitbots_test.test_case import RosNodeTestCase
+
+import rospy
 from bitbots_test.mocks import MockSubscriber
+from bitbots_test.test_case import RosNodeTestCase
+from std_msgs import msg
 
 
 class SenderReceiverTestCase(RosNodeTestCase):
@@ -23,4 +24,5 @@ def test_sent_message_gets_received_over_bridge(self):
 
 if __name__ == "__main__":
     from bitbots_test import run_rostests
+
     run_rostests(SenderReceiverTestCase)

test/unit_tests/test_aes_helper.py

@@ -1,7 +1,8 @@
-from udp_bridge import aes_helper
-from hypothesis import given, assume
-from hypothesis.strategies import text
 from bitbots_test.test_case import TestCase
+from hypothesis import assume, given
+from hypothesis.strategies import text
+
+from udp_bridge import aes_helper
 
 
 class AesHelperTestCase(TestCase):
@@ -15,6 +16,7 @@ def test_decrypt_inverts_encrypt(self, message, key):
         self.assertEqual(message, dec_text)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     from bitbots_test import run_unit_tests
+
     run_unit_tests(AesHelperTestCase)

udp_bridge/aes_helper.py

@@ -1,5 +1,4 @@
 import base64
-from typing import Optional
 
 from cryptography.fernet import Fernet
 from cryptography.hazmat.backends import default_backend
@@ -15,7 +14,7 @@ class AESCipher:
     It is safe to keep one object because the internal python cipher is not reused.
     """
 
-    def __init__(self, key: Optional[str]):
+    def __init__(self, key: str | None):
         """
         :param key: The passphrase used to encrypt and decrypt messages.
             If it is None, no encryption/decryption takes place

udp_bridge/message_handler.py

@@ -1,14 +1,13 @@
 import base64
 import pickle
 
-from typing import Optional
 from udp_bridge.aes_helper import AESCipher
 
 
 class MessageHandler:
     PACKAGE_DELIMITER = b"\xff\xff\xff"
 
-    def __init__(self, encryption_key: Optional[str]):
+    def __init__(self, encryption_key: str | None):
         self.cipher = AESCipher(encryption_key)
 
     def encrypt_and_encode(self, data: dict) -> bytes: